A robot arm simulator project using Open Dynamics Engine (ODE)
It is the robot arm simulator simulating a standard industrial robot arm. It consists of an anthropomorphic arm and a spherical wrist (6 revolute joints)
- Open Dynamics Engine (ODE 0.15.2). See the website for installation instruction.
- Eigen 3.3.5. See the website for installation instruction.
CMakeLists file is included in the project. So just run cmake to create the projects. Two projects will be created:
- robotlib: basic robot math and utility library
- robotarm_app: main project running the simulation
After compiling the projects, the simulation will run like this:
Currently, the simulator uses keyboard to control the robot arm pose. Here is the list of the keys:
- z: change control model
- mode 0: direct joint controls
- mode 1: tooltip controls along the global coordinate system
- mode 2: tooltip controls along the local tool coordinate system
- u: gripper toggle
- q: increase angle of the base joint
- a: decrease angle of the base joint
- w: increase angle of the shoulder joint
- s: decrease angle of the shoulder joint
- e: increase angle of the elbow joint
- d: decrease angle of the elbow joint
- r: increase angle of the elbow rotation joint
- f: decrease angle of the elbow rotation joint
- t: increase angle of the wrist flexion joint
- g: decrease angle of the wrist flexion joint
- y: increase angle of the wrist rotation joint
- h: decrease angle of the wrist rotation joint
- q: increase translation along global x axis
- a: decrease translation along global x axis
- w: increase translation along global y axis
- s: decrease translation along global y axis
- e: increase translation along global z axis
- d: decrease translation along global z axis
- q: increase translation along local x axis
- a: decrease translation along local x axis
- w: increase translation along local y axis
- s: decrease translation along local y axis
- e: increase translation along local z axis
- d: decrease translation along local z axis