First Level Theses

Robotics

Title:	Simulation of 6-DOF Robot Manipulator
Description:	The goal of this project is to develop a simulator for a 6-DOF robot manipulator, using the ode (open dynamics engine) library for simulating the rigid body dynamics. The project involves three different phases: Building the physical model of the manipulator Implementing the forward and inverse kinematic routines Implementing the trajectory planning routines Implementing the control modules Implementing an interface to control the robot movements This project allows to put into practice what has been explained during the first part of the course of Robotics. The project can be turned into a thesis, by using the simulated manipulator to perform some learning experiments.
Tutor:	Marcello Restelli (restelli-AT-elet-DOT-polimi-DOT-it)
Start:	Anytime
Number of students:	2-3
CFU:	10-15