Simulation of a 6 DOF Manipulator

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Project name

Simulation of a 6 degrees of freedom manipulator

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The Puma 560 manipulator

Project short description

The goal of this project is to develop a simulator for a 6-DOF robot manipulator, using Open Dynamics Engine library (ODE) for simulating the rigid body dynamics and OpenGL 3D Graphic for visualization. The project involves three different phases:

  • Building a physical model of the Unimate Puma 560 manipulator using ODE primitives for articulated rigid bodies
  • Choosing and implementing forward and inverse kinematic routines for the previously developed robot model
  • Choosing and implementing control modules and trajectory planning routines

The simulator will be provided with a custom designed user interface (based on Trolltech's QT platform) allowing the user to control the robot both in the cartesian and in the joint space.

Dates

Start date: 2009/02/27

End date: 2010/02/22 (expected)

Project head(s)

Marcello Restelli

Students currently working on the project

Pietro Castelli

Useful internet links

Open Dinamycs engine, QT Platform, QGLViewer Library, OpenGL, Boost C++ Library

Images

Almost finished user interface

Laboratory work and risk analysis

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. Potential risks are only related to the use of PCs.