KUKA_FK

Converting rotation representations between quaternion, Euler angle, and rodrigues, and applying forward kinematics on KUKA YouBot manipulator.

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Introduction

Rotation Representation Conversion

Rotation_Conversion uses ROS service to implements conversion between quaternion, Euler angle, and Rodrigues representation

Rotation_Conversion_srv contains the service files of the conversion

Yobot Forward Kinematics

robot_description and youbot_simulator discribes the YouBot configuration and movement

YouBot_Forward_Kinematics Calculates the frames of the KUKA YouBot with standard D-H parameters and forward kinematics, and broadcast them to ROS TF.

tf_broadcast_DH.py use D-H parameters calculated from the image below:

tf_broadcast_URDF.py use D-H parameters extracted from arm.urdf.xacro

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Execution Instruction

Rotation Representation Conversion

Start the roscore in one terminal:

roscore

Set s = 1 in Req_node.py to run the client requesting conversion from quaternion to rodrigues:

rosrun Rotation_Conversion Red_node.py

Or set s = 2 in Req_node.py to run the client requesting conversion from quaternion to Euler angle representation:

rosrun Rotation_Conversion Red_node.py

Yobot Forward Kinematics

Launch tf_broadcast_DH.py to broadcast the frames obtained from the image:

roslaunch YoBot_Forward_Kinematics tf_broadcast_DH.launch

Launch tf_broadcast_URDF.py to broadcast the frames obtained from arm.urdf.xacro:

roslaunch YoBot_Forward_Kinematics tf_broadcast_DH.launch