This package is related to the control test task from Remy.
To install and run the system, clone this repository and run, in the root folder:
mkdir build
cd build
cmake ..
make
Return to the root folder and run (the two arguments are required):
./RobotArm cfg/input.in cfg/config.json
The output file "out.csv" is composed of time, the end-effector path (x,y,z), the joints path (t1,t2,t3) and control signals (ux,uy,uz) for each joint.
The results are available in the "output" folder and can be generate by the .m file, available on the root folder.