| Research Projects | OSCAR Version 2.0 : Math Tutorials |
|
|
| Excercises |
Tutorial 1 - Trapezoidal Motion Planning
Write a program using RROfflineMotionPlanner to generate a 2nd order trapezoidal joint
trajectory. Use constraint checking to make sure motion does not exceed maximum velocities
or accelerations.
Sample constraints file
Solution
Tutorial 2 - GenerateLine/GenerateHandPath
Write a program to using the GenerateLine() method found in MotionUtilities.h to generate a trajectory. Next, create
an EEF trajectory using the GenerateHandPath() method. Use Spherical Linear Interpolation for the rotational motion.
Solution
Tutorial 3 - Spline Techniques
Write a program to generate a Bezier Curve through a set of control points. Next, generate a Parabolic Blend and a Bspline
curve through the same set of control points. Print the resulting curves to a file and compare them in Matlab.
Solution
Tutorial 4 - Transition Blending
Use the RRPathBlend class to produce a trajectory that blends together a sequence of straight line motions. Use Roboworks to
simulate a Puma robot moving along a trajectory generated this way.
Puma DH Parameters
Puma Roboworks Model
Solution
|
|
