10 DOF Redundant Robot With Self Motion

Control a 10 DOF redundant robot in end-effector space using an inverse kinematics program.  Generate the self motions of this robot by controlling each individual joint.

1. RoboWorks must be installed on your computer if not go to Software for instructions.
2. Click on 10 DOF Model and download the RoboWorks file to your computer.  Do not open this file directly from the Web, but first download and save it on your computer and then open it in RoboWorks.  It will not run if you save it under a different name than the one given.
3. Start RoboWorks.  Click on File in the top left of the window.  Then click on Open and select the 10DOFManip.scn file you downloaded to your computer.
4. Download the 10 DOF Control.exe.
5. Click on Animation -> From IPC.  
6. To rotate, pan or zoom the view of the 3D model hold down the right mouse button on the RoboWorks window and select 'Interactive Mode->Rotation, Translation, or Zooming' and then move the cursor.
7. Open the inverse kinematics executable (10DOF.exe).  Follow the instructions in the program. 
8. The inverse kinematics executable file must be active(click on it) when you wish to run the robot in end-effector space.  Note:  The same keys will move the robot in joint space if RoboWorks is active(highlighted). 
9. You can also download the OSCAR source code  used to develop this application.