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Robotics tools in C++11. Implements soft real time arm drivers for Kuka LBR iiwa plus V-REP, ROS, Constrained Optimization based planning, Hand Eye Calibration and Inverse Kinematics integration.
The Generic Robotics Library (GRL) has a long term goal of implementing robotics algorithms using generic programming in C++11.
Currently GRL implements C++11 drivers for the new Kuka LBR iiwa arm and hardware integration with ROS and the V-REP robotics simulation software.
This demo video is of the KUKA iiwa robot following a path using GRL. What appears to be a "wobbling" motion is actually a highly precise pre-planned path consisting of tiny, nearly concentric circles relative to an object.
If you use GRL in research please consider providing a citation:
License
Copyright (c) 2015-2016 Andrew Hundt
See COPYING file for license information.
Installation
See build and installation instructions given in the INSTALL file.
Robotics tools in C++11. Implements soft real time arm drivers for Kuka LBR iiwa plus V-REP, ROS, Constrained Optimization based planning, Hand Eye Calibration and Inverse Kinematics integration.
