Control and Velocity Kinematics – 4DoF OpenManipulator-X Robotic Arm

Cartesian Velocity Control, Jacobian-Based IK, and PD Control

🎥 Demo Video

Pick-and-place demonstration using Cartesian velocity kinematics on a 4-DoF OpenManipulator-X.

📌 Project Overview

This project implements velocity-level kinematics control for a 4-DoF OpenManipulator-X robotic arm.
The controller maps Cartesian end-effector velocities to joint velocities using the Jacobian pseudo-inverse, enabling smooth pick-and-place motion in task space.

🧠 Key Components

  • Forward & Differential Kinematics
  • Jacobian derivation (analytic)
  • Velocity IK with singularity handling
  • ROS 2 control pipeline
  • Real-time execution on OpenManipulator-X

📷 System & Results

Left: Kinematic model and coordinate frames. Right: Pick-and-place task execution.

⚙️ Technologies

  • ROS 2 (Humble)
  • Python / C++
  • Jacobian-based Velocity IK
  • OpenManipulator-X

📎 Notes

  • The controller supports Cartesian x, y, z velocity commands
  • Singularities handled via damped least squares
  • Designed for real-time execution on hardware

References