Path Planning Visualization Tool with Franka Robot Controller
A path planning visualization tool with state-of-the-art planning algorithms for robot arm planning, with companion Franka joint position/impedance controller for receiving trajectories.
A comprehensive path planning visualization tool that includes state-of-the-art planning algorithms for robot arm planning, with a companion Franka joint position/impedance controller for receiving and executing trajectories.
Features
- Advanced Planning Algorithms: Implementation of various path planning algorithms optimized for robotic arm manipulation
- Real-time Visualization: Interactive visualization of planned trajectories and robot configurations
- Franka Integration: Direct integration with Franka robotic arm for trajectory execution
- Dual Control Modes: Support for both joint position control and impedance control
- Trajectory Execution: Seamless communication between planning and execution systems
Technical Implementation
The project combines modern path planning techniques with robust robot control, providing a complete solution for autonomous robotic manipulation tasks. The visualization component allows for real-time monitoring and debugging of planned trajectories.
Repository
The complete implementation is available on GitHub: planning_pkg