Скачать или смотреть Inverse Kinematics – ROS 2 Jazzy MoveIt Task Constructor

In this tutorial, I’ll guide you through implementing inverse kinematics (IK) with obstacle clearance cost optimization using the MoveIt Task Constructor in ROS 2 Jazzy. You’ll learn how to compute multiple IK solutions for a robotic arm while maximizing clearance from obstacles in the scene.

What You'll Learn
0:00 Introduction to IK with Clearance Cost
1:31 Real-World Applications (Assembly, Bin Picking, Inspection)
2:47 Create the Code
3:34 Understanding the Parameters
4:30 Build the Code
5:11 Launch Everything
6:20 Understanding the Motion Planning Results
8:59 Terminal Window – Planning Results
11:42 Detailed Code Walkthrough

By the end of this tutorial, you’ll understand how to compute and evaluate IK solutions that respect spatial constraints, giving your robot smarter and safer movement in cluttered environments.

Resources and Links
Complete Tutorial Guide:
https://automaticaddison.com/inverse-...
Visit My Blog for More Tutorials:
https://automaticaddison.com

Connect With Me
LinkedIn:   / automaticaddison  

#ros2 #cpp #robotics