Kinematics & Dynamics Library for Baxter Arm
Fuente:
arXiv
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| Autori principali: | , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866909302445309952 |
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| author | Kumar, Akshay Sahasrabudhe, Ashwin Perugu, Chaitanya Nirgude, Sanjuksha Murugan, Aakash |
| author_facet | Kumar, Akshay Sahasrabudhe, Ashwin Perugu, Chaitanya Nirgude, Sanjuksha Murugan, Aakash |
| contents | The Baxter robot is a standard research platform used widely in research tasks, supported with an SDK provided by the developers, Rethink Robotics. Despite the ubiquitous use of the robot, the official software support is sub-standard. Especially, the native IK service has a low success rate and is often inconsistent. This unreliable behavior makes Baxter difficult to use for experiments and the research community is in need of a more reliable software support to control the robot. We present our work towards creating a Python based software library supporting the kinematics and dynamics of the Baxter robot. Our toolbox contains implementation of pose and velocity kinematics with support for Jacobian operations for redundancy resolution. We present the implementation and performance of our library, along with a comparison with PyKDL. Keywords- Baxter Research Robot, Manipulator Kinematics, Iterative IK, Dynamical Model, Redundant Manipulator |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_00867 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Kinematics & Dynamics Library for Baxter Arm Kumar, Akshay Sahasrabudhe, Ashwin Perugu, Chaitanya Nirgude, Sanjuksha Murugan, Aakash Robotics The Baxter robot is a standard research platform used widely in research tasks, supported with an SDK provided by the developers, Rethink Robotics. Despite the ubiquitous use of the robot, the official software support is sub-standard. Especially, the native IK service has a low success rate and is often inconsistent. This unreliable behavior makes Baxter difficult to use for experiments and the research community is in need of a more reliable software support to control the robot. We present our work towards creating a Python based software library supporting the kinematics and dynamics of the Baxter robot. Our toolbox contains implementation of pose and velocity kinematics with support for Jacobian operations for redundancy resolution. We present the implementation and performance of our library, along with a comparison with PyKDL. Keywords- Baxter Research Robot, Manipulator Kinematics, Iterative IK, Dynamical Model, Redundant Manipulator |
| title | Kinematics & Dynamics Library for Baxter Arm |
| topic | Robotics |
| url | https://arxiv.org/abs/2409.00867 |