Kinematics on Grayson Gilberthttps://graysongilbert.me/tags/kinematics/Recent content in Kinematics on Grayson GilbertGrayson Gilberthttps://graysongilbert.me/website-preview.jpeghttps://graysongilbert.me/website-preview.jpegHugoen-usSat, 01 Mar 2025 00:00:00 +0000Autonomous 6-DOF Robotic Barista: Gazebo & ROS 2 Manipulationhttps://graysongilbert.me/projects/barista-robot/Sat, 01 Mar 2025 00:00:00 +0000https://graysongilbert.me/projects/barista-robot/Engineered an autonomous multi-station coffee preparation workcell utilizing a Universal Robots UR10e 6-DOF manipulator, Robotiq 2F-140 gripper, and Intel RealSense D435 in ROS 2 Humble and Gazebo. Features analytical DH forward kinematics, Jacobian pseudoinverse trajectory tracking, singularity-free workspace optimization, and joint effort physics stabilization.