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leniseev

Cart #puma_ik-0 | 2019-09-21 | Code ▽ | Embed ▽ | License: CC4-BY-NC-SA
9

Demo of PUMA industrial robot kinematics.

The user can move the Tool Center Point (TCP) and the robot will follow.

The demo operates in three modes:

  • Camera mode (rotate the camera)
  • Motion mode (move the TCP)
  • Rotation mode (rotate the TCP)

The inverse kinematic (IK) problem is the problem of calculating such joint angles that the robot TCP takes the proper position and orientation.

P#67982 2019-09-21 21:55


2darray
2darray

This is super cool! Really fun to see the elbow articulating during "rotation mode."

Can you rotate the "motion mode" controls so that they're based on the camera's facing direction, instead of the robot's forward direction? Seems like it'd be a bit easier to use!

P#68280 2019-09-30 11:59

leniseev
leniseev

Thank you for your feedback.

Technically it is possible.
I think I'll add another mode with motion in the camera plane a bit later (during the weekend, I hope).

P#68282 2019-09-30 12:07

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