Designing a Surgical Robotic Assistant with ROS 2

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This project entails the development of "Odradek," a robotic assistant designed as a shoulder-mounted robot capable of handling dynamic lighting and tool handovers. Led by a team of engineering and tech professionals, this initiative involves comprehensive modeling utilizing ROS 2 Jazzy and Gazebo. The design progresses through phases of increased kinematic complexity, ultimately achieving full-stack integration. We focus on resolving kinematic singularities, ensuring smooth synchronization...