This repository contains the source code and simulation files for the Koch V1.1 robot arm, a low-cost robotic manipulator designed for educational and research purposes. The project includes kinematics, control interfaces, and a Mujoco-based simulation environment.
For further code details, please refer to the documentation provided at our GitHub page: https://rst-tu-dortmund.github.io/koch-low-cost-robot-arm/index.html
For calibration information, please refer to: https://github.com/rst-tu-dortmund/koch-low-cost-robot-arm/blob/main-upstream/doc/motor_calibration.md
For basic functionality, please refer to the Quickstart Guide: https://github.com/rst-tu-dortmund/koch-low-cost-robot-arm/blob/main-upstream/doc/kochV1_robot.md
The authors would like to thank Alexander Koch for providing the original simulation model and the hardware structure of the Koch V1 robot arm, which served as a foundation for this project. The original repository can be found at: https://github.com/AlexanderKoch-Koch/low_cost_robot (MIT License).
Furthermore, the authors would like to thank Jess Moss for her hardware adaptions: https://github.com/jess-moss/koch-v1-1 (Apache License 2.0).
The mujoco model was adapted from the original repository by Alexander Koch to fit the new hardware strucuture and can be found at: https://github.com/s1lent4gnt/mujoco_menagerie/tree/lilkm/add-kochv1.1/low_cost_robot_arm (Apache License 2.0).