Robotic Arm Controller and IK Solver Demo

Demonstrates the basic functionality of custom control software for the Interbotix WidowX robotic arm. It also illustrates some of the capabilities of the custom inverse kinematics and forward kinematics solvers developed for this project.

The original purpose for the project was to learn more about IK solver algorithms as well as evaluate the capabilities of the Dynamixel servos used in the WidowX. After discovering some of the more advanced features of the servos, the project scope has grown to include more complex motion profile processing and capture algorithms.

The robotic arm is a stock Interbotix WidowX. The integrated Arbotix controller's ROS sketch provides "pass-through" read/write access to the arm servos via a USB-to-serial adapter. The control platform is a Windows 8 laptop running software developed in Visual Studio (C#).