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