5DOF robotic manipulator arm remotely controlled. Forward and inverse kinematics. But really Just an excuse to play with ROS so let's keep this as low cost as possible.
- OWI Robotic Arm Edge outfitted with potentiometers at each joint
- Multiplexer - analog read the potentiometers at each joint
- Motor Controller - PWM motors at each joint
- Adafruit WiFi library
- ROS Node
- Publish msr_joint angles
- Subscribe dsr_joint angles
- WiFi communication
- PID controller
- ROS forward kinematics (DH) parameters
- ROS inverse kinemtaics