russtedrake PRO
Roboticist at MIT and TRI
Basic Pick and Place
(part 2)
Please just watch the video stream today
MIT 6.800/6.843: Robotic Manipulation
Fall 2021, Lecture 4
Basic Pick and Place
Step 1: Kinematic Frames / Spatial Algebra
Step 2: Gripper Frame Plan "Sketch"
Step 3: Forward kinematics of the iiwa + WSG
Step 4: Differential (Inverse) Kinematics
prog = MathematicalProgram()
x = prog.NewContinuousVariables(2)
prog.AddConstraint(x[0] + x[1] == 1)
prog.AddConstraint(x[0] <= x[1])
prog.AddCost(x[0] ** 2 + x[1] ** 2)
result = Solve(prog)
Lecture 4: Basic pick and place (part 2)
By russtedrake
Lecture 4: Basic pick and place (part 2)
MIT Robotic Manipulation Fall 2020 http://manipulation.csail.mit.edu
