Difference between revisions of "Simulation of a 6 DOF Manipulator"
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(New page: === Project name === Simulation of a 6 Degrees of freedom manipulator The Puma 560 manipulator === Project short description === The...) |
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=== Project name === | === Project name === | ||
| − | Simulation of a 6 | + | Simulation of a 6 degrees of freedom manipulator |
[[Image:PietroCastelli-pumaArm.jpg|thumb|right|136px|The Puma 560 manipulator]] | [[Image:PietroCastelli-pumaArm.jpg|thumb|right|136px|The Puma 560 manipulator]] | ||
| + | |||
=== Project short description === | === 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: | 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: | ||
| Line 8: | Line 9: | ||
*Building a physical model of the Unimate Puma 560 manipulator using ODE primitives for articulated rigid bodies | *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 forward and inverse kinematic routines for the previously developed robot model | ||
| − | *Choosing and | + | *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. | 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. | ||
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Start date: 2009/02/27 | Start date: 2009/02/27 | ||
| − | End date: 2010/02/22 | + | End date: 2010/02/22 (expected) |
==== Project head(s) ==== | ==== Project head(s) ==== | ||
| − | |||
[[User:MarcelloRestelli | Marcello Restelli]] | [[User:MarcelloRestelli | Marcello Restelli]] | ||
==== Students currently working on the project ==== | ==== Students currently working on the project ==== | ||
| − | |||
[[User:PietroCastelli | Pietro Castelli]] | [[User:PietroCastelli | Pietro Castelli]] | ||
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[http://www.opengl.org/ OpenGL], [http://www.boost.org/ Boost C++ Library] | [http://www.opengl.org/ OpenGL], [http://www.boost.org/ Boost C++ Library] | ||
| − | === | + | === Images === |
| + | [[Image:PietroCastelli-gui.jpg|thumb|center|400px|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. | Laboratory work for this project will be mainly performed at AIRLab/Lambrate. Potential risks are only related to the use of PCs. | ||
| − | *Standard safety measures are described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110] | + | *Standard safety measures are described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110 Safety meseaures] |
Latest revision as of 00:11, 17 September 2009
Contents
Project name
Simulation of a 6 degrees of freedom 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)
Students currently working on the project
Useful internet links
Open Dinamycs engine, QT Platform, QGLViewer Library, OpenGL, Boost C++ Library
Images
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.
- Standard safety measures are described in Safety meseaures
