jmysu / TuDow2_Kinematics

My Robot RuDow2 simulation w/ Kinematics

TuDow2_Kinematics 土豆2號-仿生動力學

My Robot TuDow2 simulation w/ Kinematics

羅拔特 是用QT5+OpenGL+QGLViewer 畫出來的！
茶壺位置(End Effector) 是用 老歐的餘弦定理 算出來的！
如果位置算錯了 那可能要叫他起來 說明白講清楚！！！

Works features:

1. FK-Kinematics: Use Alpha, Beta, Gamma to control robot.
2. IK-Kinematics: Use X,Y,Z to control the End-Effector position.

Forward Kinematics Demo

Inverse Kinematics Demo

References

• libQGLViewer
• QT GLWidget Teapot
• Forward Kinematics, Arm Navigation
• Inverse Kinematics, Let’s write some Go to make it serve your five o’clock tea.
• Robot Inverse Kinematics
• EECS/MIT 6.141: Robotics systems and science Lecture 14: Forward and Inverse Kinematics
• 歐幾里德 餘弦定理 Law of Cosines

Change Logs:

• 0327 Upload (IK not ready)
• 0405 Upload V0.9.0 (FK/IK ready)

To Do:

• Add Inverse Kinematics
• Add link to connect to Motor Controller