🦾 Simple 6-DoF Robotic Arm Project in OpenGL

Mechanical Design & Architecture

• Custom CAD Components: Each segment of the arm was individually designed and is stored in Models3D directory
• Primitive-based geometry based on cylinders

Motion & Kinematics

• Forward Kinematics (FK):

  Self implemented kinematic rules to determine the End-Effector (gripper) pose based on joint state variables.

• Analytical Inverse Kinematics (IK):

  Self implemented inverse kinematics rules, to be optimized in future.

• Numerical Inverse Kinematics:

  Imported numerical solution for determinig inverse kinematics rules.