2013年9月15日日曜日

Kinematics 〜 Implementation 〜

in Japanese


Introduction


 In the previous page, I described a brief explanation on the kinematics. Here I show you my implementation of the algorithm of a six-axis-arm system in C++.

Demo

video
A green sphere indicates a target position. When the end point of the arm arrives at it, the target is moved to the next position.

Development Environment

  1. Mac OS X 10.8.4
  2. Processor:3.06 GHz Intel Core 2 Duo
  3. Memory:4GB
  4. Xcode4.6.2 with Apple LLVM 4.2(C++ Language Dialect → C++11, C++ Standard Library → libc++)
  5. boost-1.54.0(built by Apple LLVM 4.2 compiler)

Source


Here is my source code.


Usage


A file robot.dat passed as an argument determines a form of the arm system. The format of the file is expressed in 1. Using keyboard,
  1. 'c' starts the program,
  2. 'b' inverts the movement of the target sphere,
  3. 'a' restores the movement,
  4. and escape stops the program.
The end point of the arm system gradually gives rise to a distortion from the target point. We have to introduce the feedback function.

References

  1. OpenGL 3Dグラフィックス入門 第2版 三浦憲二郎 朝倉書店 (In Japanese)

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