muneue-suwa / two-link-manipulator-simulation

Web Application of Two-Link Manipulator Simulation

Two-Link Manipulator Simulation

Web Application of Two-Link Manipulator Simulation

User's Manual for End Users

エンドユーザ向けの日本語のマニュアル

Environment

The operation is confirmed in the following environment.

• OS: Windows 10, Windows 11
• Web Browser: Google Chrome, Microsoft Edge

This application does NOT support Internet Explorer. The operation in macOS is NOT confirmed, because I do not have any Mac computers.

Usage

Using GitHub Pages

Access GitHub Pages link: https://muneue-suwa.github.io/two-link-manipulator-simulation/

Using Your HTTP Server

1. Download the released zip file (e.g. release_v.x.x.x; x.x.x is version information) from releases page.
2. Unzip and upload the file to your server.

Simulator Settings

Edit SIMULATION SETTINGS in js/main.js.

/**
 * ------------------
 * SIMULATOR SETTINGS
 * ------------------
 */
// Instance of Manipulator()
const te = 8;
const dt = 1/100;
const manipulator = new Manipulator(te, dt, th1=Math.PI, th2=Math.PI);
// Target coordinate and allowable error
const targetXY = [1.2, -0.8];
const allowableError = 0.03;
// FPS of simulator
const fps = 60;
...
/**
 * ------------------
 */

Manipulator class has parameters as follow.

class Manipulator { // eslint-disable-line no-unused-vars
  /**
   * Initialize manipulator
   *
   * @param {Number} te Simulation time
   * @param {Number} dt delta-time
   * @param {Number} th1 theta 1
   * @param {Number} th2 theta 2
   * @param {Number} dth1 d theta 1
   * @param {Number} dth2 d theta 2
   * @param {Number} m1 Mass of arm 1
   * @param {Number} m2 Mass of arm 2
   * @param {Number} l1 Length of arm 1
   * @param {Number} l2 Length of arm 2
   * @param {Number} D1 D1
   * @param {Number} D2 D2
   */
  constructor(
      te = 15, dt = 1 / 100,
      th1 = Math.PI / 2, th2 = Math.PI,
      dth1 = 0, dth2 = 0,
      m1 = 1, m2 = 1,
      l1 = 0.5, l2 = 0.3,
      D1 = 3, D2 = 3,
  )

Develop Environment

開発環境の構築方法のページを参照されたい．