View source for Simulation of a 6 DOF Manipulator

=== Project name ===
Simulation of a 6 Degrees of freedom manipulator

[[Image:PietroCastelli-pumaArm.jpg|thumb|right|136px|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

==== Project head(s) ====
[[User:MarcelloRestelli | Marcello Restelli]]

==== Students currently working on the project ====
[[User:PietroCastelli | Pietro Castelli]]

=== Useful internet links ===
[http://www.ode.org/ Open Dinamycs engine], [http://qt.nokia.com/products/ QT Platform], [http://www.libqglviewer.com/ QGLViewer 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.
*Standard safety measures are described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110 Safety meseaures]