6 DOF Puma 760 Robot With Kinematic Closures

Run a 6 DOF Robot in end-effector space using an inverse kinematics program.  Toggle between different shoulder, elbow, and wrist settings to see different closures. 

1. RoboWorks must be installed on your computer if not go to Software for instructions.
2. Click on Puma 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 Puma760Robot.scn file you downloaded to your computer.
4. Download the PumaControl.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 (PumaControl.exe).  Follow the instructions in the program. 
8. The Puma Control 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.