ME 384R - Geometry of Robots and Mechanisms

3 DOF Planar Robot - Run a 3 DOF  Planar Robot in end effector space using an inverse kinematics program.  Move to see where singularities exist and its motion capabilities. 

4 DOF Planar Robot With Self Motion - Run a Redundant 4 DOF Planar Robot in end effector space using an inverse kinematics program.  Move to see where singularities exist and its self motion capabilities. 

6 DOF Puma Inverse with Kinematic Closures - Run a 6 DOF Puma 760 Robot in end effector space using an inverse kinematics program.  Toggle between different shoulder, elbow, and wrist positions to see different possible closures.

10 DOF Redundant Robot With Self Motion - Control a 10 DOF spatial redundant Robot in end effector space using an inverse kinematics program.  Perform self motion on the robot by controlling each individual joint manifolds.

Cylindroid: 2nd Order Screw System - Visual simulation of the possible solutions of a 2nd order screw system.