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Interactive Inverse of
a 3R Planar Robot
Run
a 3 DOF Robot in end- effector space using an inverse kinematics
program. Move to see where singularities exist and its motion
capabilities.
Instructions:
- RoboWorks must be installed on your computer if not
go to Software
for instructions.
- Click on Planar
3R 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.
- Start RoboWorks. Click on File in the top left
of the window. Then click on Open and select the Planar3R.scn
file you downloaded to your computer.
- Download the Planar
3R.exe.
- In RoboWorks select Animation -> From IPC.
- 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.
- Open the Inverse Kinematics Executable
(Planar3R.exe). Follow the instructions in the program.
- The Planar 3R 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).
- You can also download the OSCAR source code used to develop this application.
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