7Dof_Robot_Arm_Controller

Hardware:

Raspberry (RC) +Elmo (Driver) + Android Phone (UI)

Include:

I. RTOS: implent Xenomai on Raspberry

II. EtherCAT Master: SOEM configuration comminucation with elmo driver

III. Motion planning in joint space

IV. 7-DOF Kinematics: analytical computation

V. Motion planning in cartesian space

VI. Software architecture and realization

VII. Simple UI on an android phone

VIII. Contact force control without force senser

IX. ROS-I interface