A deterministic motion planning and Computed Torque Control framework for lightweight 6-axis robotic arms in ROS 2 Jazzy, featuring analytical kinematics, Pinocchio dynamics, and automated system identification.
robotics motion-planning pyqt system-identification kalman-filter ros2 mujoco trajectory-planning pinocchio robot-dynamics 6-dof ros2-control ruckig computed-torque-control ros2-jazzy friction-compensation controller-chaining coal-library analytical-inverse-kinematics
-
Updated
Jul 26, 2026 - C++