The RoKiSim package comes with several popular industrial robot models ( ABB IRB 120, ABB IRB 140, ABB IRB 1600/1.45, ABB IRB 4400, ABB IRB 6640, Adept Viper S650, CRS A465, FANUC LR Mate 200iC, FANUC LR Mate 200iD, FANUC LR Mate 200iD 7L, FANUC M-710iC/50, FANUC M-710iC/50S KUKA KR 5 sixx R650, KUKA KR 6 R900, KUKA KR 150 R3100, KUKA KR 160 R1570 nano, KUKA KR 270 R2700 ultra, KUKA KR 500, KUKA KR 1000 TITAN, Motoman MH5F, Motoman UP50N, PUMA 560, Stäubli RX90BL, Stäubli TX40, Stäubli TX200, Universal Robots UR5 and UR10) as well as with seven end-effector tools. Orientations can be represented in any of several common Euler angle conventions (such as those used by FANUC Robotics, KUKA Robotics, Stäubli, and Adept Technology), as well as in unit quaternions (used by ABB Robotics). The user can jog the virtual robot in either its joint space or the Cartesian space (with respect to the tool frame, the base frame, or the world frame), show the various reference frames (according to both the Denavit-Hartenberg and the Modified Denavit-Hartenberg conventions), and visualize all possible robot configurations (solutions of the inverse kinematics) for a given pose of the end-effector. RoKiSim is a free multi-platform educational software tool for 3D simulation of serial six-axis robots developed at the Control and Robotics Lab of the École de technologie supérieure (Montreal, Canada). RoKiSim - Robot Kinematics Simulator 1.7 RoKiSim 1.7 :: Robot Kinematics Simulator
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