C++ library for 3-link planar arm. Implements kinematics, inverse kinematics, collision detection, and path planning (bidirectional RRT with shortcutting).

Install SFML

sudo apt-get install libsfml-dev

Clone repository

git clone https://github.com/rsandzimier/planar_arm.git
cd planar_arm

Build with cmake (3.16.3 or later. Note: Earlier versions may work, but have not been tested. Change version in CMakeLists.txt)

cmake -B build
cmake --build build

Run demo

./build/demo

There are 3 demos provided: RRT demo, sinusoid demo, and circle demo. By default, ./build/demo only runs the RRT demo. Optionally use command line arguments --rrt, --sinusoid, and --circle to run the respective demo. For example, ./build/demo --sinusoid to run the sinusoid demo.

Creates an environment with a 3-link planar arm and obstacles and plans a collision-free path between two arm configurations using bidirectional RRT (with shortcutting). The planned path is then displayed in an animation. Use option --rrt when running ./build/demo.

Moves each joint of a planar arm as a sinusoid and displays an animation of the trajectory. Use option --sinusoid when running ./build/demo.

Moves the end effector on a circular trajectory and displays an animation of the trajectory. Uses inverse kinematics to calculate joint positions at each time step. Use option --circle when running ./build/demo.