The goal of this project for me was to do a deep dive into the dynamics and simulation of robots. I have had to setup several simulations, through both classes and research, but wanted to get a better understanding for the underlying principles. All of the code for this project is available on the github page.
The goals of this project were
I have accomplished each of these components separately through either research or through working on personal projects in my free time, but I would say that all of these tools are very useful for someone getting into robotics. I am not claiming that any of this was done in the most effective way, but the first goal was to get everything working, and then to improve it from there.
The tools and languages I used for this project were
In order to understand how this project works, there are some fundamental concepts that need to be understood, and I will assume readers have this understanding.
I am very happy with how everything turned out, but there are still a lot of improvements that can be made. Some general things that I want to improve are
I plan on writing different sections detailing how I handled Kinematics, Dynamics, as well as how I think this could be useful. Stay tuned!