Simulation of a 6 DOF Manipulator
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
