Redundant 4 DOF Planar Robot  

Run a 4 DOF Robot in end-effector space using an inverse kinematics program.  Move to see how the redundant fourth joint affects motion capabilities and singularities. 

1. RoboWorks must be installed on your computer if not go to Software for instructions.
2. Click on Planar 4R 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 Planar4R.scn file you downloaded to your computer.
4. Download the 4RPlanar.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 (4RPlanar.exe).  Follow the instructions in the program. 
8. You can also download the OSCAR source code used to develop this application.