Shrung D N - ME19B168
Sidharth Tadeparti - ME19B051
Tejas Rao - ME19B179
Various Path Planning Algorithms implemented to solve the issues related to RCM (Remote Centre of Motion) of a surgical robot. All the simulations are done using the KUKA iiwa 7 robot package on Gazebo. Kindly refer to the Master Branch for the working code (not the default main branch)
The base code is obtained from : https://github.com/IFL-CAMP/iiwa_stack
The modified URDF is obtained from the inspire lab at IIT Madras.