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1. PUMA560-kinematics-and-trajectory_planning PUMA560-kinematics-and-trajectory_planning Public

   本项目为归档项目包，不再更新维护，该项目可作为机器人相关专业的本科生和研究生进行学习和参考的资料。 项目首先对PUMA560机械臂的基本结构和参数进行了介绍，对其运动学特性进行了分析并给出了正逆运动学的完整算法。其次，建立了PUMA560的三维模型，制作了机器人的URDF网格可视化文件，并在Simulink中开发了机械臂的可视化仿真框架。最后，分别基于关节空间和笛卡尔空间对机械臂进行了轨迹规…

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2. Modelling-and-Motion-Planning-Research-of-Wheeled-Mobile-Manipulator Modelling-and-Motion-Planning-Research-of-Wheeled-Mobile-Manipulator Public

   针对解决轮式移动机械臂在复杂环境中执行灵巧作业的需求，开展了面向冗余轮式移动机械臂的考虑任务优先级的位形优化研究。首先建立了整机运动学模型，然后基于任务优先级框架开展了面向车-臂双轨迹跟踪、避奇异位形、避关节极限等多任务目标的位形优化的研究，最后进行了复杂工况仿真，验证了方法的有效性。

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3. unitree_guide unitree_guide Public

   Forked from unitreerobotics/unitree_guide

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4. agibot_x1_train agibot_x1_train Public

   Forked from AgibotTech/agibot_x1_train

   The reinforcement learning training code for AgiBot X1.

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5. agibot_x1_hardware agibot_x1_hardware Public

   Forked from AgibotTech/agibot_x1_hardware

   The hardware design for AgiBot X1.

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6. agibot_x1_infer agibot_x1_infer Public

   Forked from AgibotTech/agibot_x1_infer

   The inference module for AgiBot X1.

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