University final year project

For my final year project at university, I wrote a custom kinematics library for serial robots and the delta robot, which could either use standard kinematic methods, or use conformal geometric algebra.

For my own interests, I made the following choices:

• Implement kinematics using standard methods in addition to conformal geometric algebra, so I could understand how CGA compared to this.
• Use this library to control real robots as well as simulated robots, and do this using ROS.

If interested, the final report is here. Videos of the final results are below. Each video shows a simulated or real robot being manually controlled to record a motion of picking up and moving objects, and then automatically replaying this trajectory.