xiaopgaxiaopg / ur5-tcp-position-control

A ROS package to do cartesian position control with the UR5 robot, implemented with the KDL library

ROS package for controlling the tcp position of the UR5 robot with the KDL library

More information on how to use this package and how inverse kinematics is implemented in KDL can be found in the following blog post:

https://roboticscasual.com/tutorial-controlling-tcp-position-of-the-ur5-robot-with-kdl-in-c-inverse-kinematics/