| Research Projects | OSCAR Version 2.0 : Kinematics Tutorials |
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| Excercises |
Tutorial 1 - Introduction To RoboWorks
Use RoboWorks to create a rendition of 6 DOF Schilling Titan III. This robot
will be used in later experiments so be sure to use the DH parameters in the
appendix. Be sure to name each joint with an appropriate tag that can later
be used for remote operation. (below data was found on the Schilling website)
Tutorial 2 - Forward Kinematics
Create a RRFKPosition object for the Schilling Titan III. Compute the hand
position based on a set of initial joint angles. Change the tool point, and
determine how this changes the hand position. Access the local transformation
matrices and global transformation matrices for each link and output them to
a file. Demonstrate the local transformation matrices may be used to generate
the global transformations.
Tutorial XML File
Solution
Tutorial 3 - Input, TCP/IP Communications and OSCAR Portability
Use the RRGeneralKeyboard to move the Titan III joints in RoboWorks with TCP/IP
protocol of RoboTalk. Output the hand pose to the console window at every command.
Now change your RRFKJacobian object to use the DH parameters for the 7DOF Robotics
Research Arm. Determine what other portions of your program need to change in order
to run the RoboWorks 7DOF Robotics Research Arm found in the Samples Directory of the
RoboWorks application and make the necessary adjustments.
Note: Any project using the GeneralKeyboard class must include "user32.lib", and any project using
TCP/IP communication must include "wsock32.lib". In Microsoft Visual Studio, these can be added on
the "Link" tab under Project Settings. Just add the two libraries under "Object/library modules:".
Tutorial XML File
Titan II Roboworks Model
RR7 Roboworks Model
Solution
Tutorial 4 – Advanced Forward Kinematics
Create an RRFKAcceleration objects for the Titan and demonstrate how to output the
translational and rotational G and H functions. See Thomas & Tesar [1982] for
details of these model components.
Tutorial XML File
Titan II Roboworks Model
Solution
Tutorial 5 – Inverse Kinematics (part 1)
Create a program that calculates the inverse position solution for a 6-DOF Puma
robot using the RRIKJacobian class. Using the keyboard as input, make your program
control the EE of the Roboworks model of the Puma.
Tutorial XML File
Puma Roboworks Model
Solution
Tutorial 6 – Inverse Kinematics (part 2)
Next, create a program to control the Planar 4R robot using the RRIKJReconfig
class. Using the SetActiveCoordinate() method, lock the first joint of the robot.
This system now has three input DOFs and three output DOFS. Next, have your
program ignore the orientation of the End-Effector to make the robot redundant
once again.
Tutorial XML File
Planar 4R Roboworks Model
Solution
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