|
The following projects apply to robotics.
2
DOF RP Robot Kinematics Assignment
- Write a path following program using inverse kinematics for a 2 DOF RP
Robot.
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.
Finding
the Influence Coefficients (g-Functions) of a 6 DOF Spatial Manipulator
- This simulation that illustrates how to determine the g-functions (i.e.
Jacobian) using the Thomas and Tesar method.
6
DOF Puma Robot With 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.
Mitsubishi
PA10-7C (7 DOF Redundant Robot With Self Motion)
- Control the Mitsubishi PA10-7C (7 DOF spatial redundant robot) in end
effector space using an inverse kinematics program. Switch between
control in world or tool coordinates. Perform self motion on one joint of
the robot.
Barrett WAM Arm (7 DOF Redundant Robot With Self Motion)
- Control the Barrett WAM Arm (7 DOF spatial redundant robot) in end
effector space using an inverse kinematics program. Switch between
control in world or tool coordinates. Perform self motion on any given joint of the arm.
Kuka-DLR LBR 4 Arm (7 DOF Redundant Robot With Self Motion)
- Control the Kuka DLR LBR 4 Arm (7 DOF spatial redundant robot) in end
effector space using an inverse kinematics program. Switch between
control in world or tool coordinates. Perform self motion on any given joint of the arm.
Schunk
LWA3 Arm with Self Motion and Joint Failure
- Control the Schunk LWA3 Arm (7 DOF spatial redundant robot) in end
effector space using an inverse kinematics program. Switch between
control in world or tool coordinates. Perform self motion on one joint of
the robot.
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.
Mobile
Manipulator with a Skid Steered Platform and a 6DOF Arm
- Control a mobile manipulator in end effector space using an inverse
kinematics program. Perform self motion on the robot. Also control the
individual motion contributions of the platform and the arm.
10
DOF Robot Simulation of DOE Decontamination & Dismantlement Tasks
- The University of Texas is working to develop the operational software
necessary to deploy general redundant systems in complex environments.
This link leads to a brief description of one implementation strategy and
an example simulation.
Interactive
Robot Statics
- This demonstration allows a user to interactively control a 3 DOF robot
in joint space and end-effector space and also visualize the joint
torques from the resulting configurations. The user can also
interactively change the external loading at the end-effector. Increasing
joint torques and external loading are represented using interactive 3D
graphics.
Dynamic
Control of a 2 DOF Planar Robot
- Create a computer program that performs motion planning, inverse
dynamics, and forward dynamics for a 2 DOF RR Planar Robot. Implement
feedback, feedforward, and combinational control schemes.
Control
of a 6 DOF Puma Robot
- Create a computer program that performs motion planning, inverse
dynamics, and forward dynamics for a 6 DOF Puma Robot. Implement a
combination of feedforward and feedback control.
Reconfigurable
Snake Robot
- Videos of a 21 DOF Snake robot. These include the snake robot
reconfiguring into a parallel and dual arm structure.
Amtec
Robotics Ultra Light Weight 7 DOF Arm
-Control an Amtec Robotics 7 DOF ultra light weight arm in end-effector
space using an inverse kinematics program.
Fanuc
M-4210iA 4 DOF Arm
-Control a Fanuc Robotics 4 DOF industrial packaging arm in end-effector
space using an inverse kinematics program.
Fanuc
ArcMate 120i 6 DOF Arm
-Control a Fanuc Robotics 6 DOF industrial arc welding arm in
end-effector space using an inverse kinematics program. Use orientation
control at the simulation start to perform basket ball seam tracking.
Kuka
KR 200 Comp 6DOF Arm
-Control a Kuka Robotics 6 DOF industrial arm in end-effector
space using an inverse kinematics program.
ABB
4400 6DOF Arm
-Control an ABB 4400 6 DOF industrial arm in end-effector space using an
inverse kinematics program.
|
