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controller-chaining

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Tianyi-Wang-1206 / Deterministic-Motion-Planning-and-Dynamics-Control-Framework-for-Lightweight-6-Axis-Robotic-Arms

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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 pinocchio robot-dynamics 6-dof ros2-control ruckig computed-torque-control ros2-jazzy friction-compensation controller-chaining coal-library analytical-inverse-kinematics
  • Updated Jul 14, 2026
  • C++

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