Posts by ilian.bonev

Here's a new interactive tutorial on Euler angles:
http://www.mecademic.com/resso…Euler-angles/Euler-angles

Hello,

Just thought that you might be interested to learn about the world's smallest high-accuracy industrial robot, recently launched by Mecademic:

Ilian

Hi,

This dual-arm SCARA robot is a good representation of what you can find in industry: http://www.mecademic.com/DexTAR.html.

Ilian

Here are the latest news on China's fascinating growing market for industrial robots: http://coro.etsmtl.ca/blog/?p=140.

Here is an iOS app that my colleague and I created for guys like you who want to learn more about orientation representation: https://itunes.apple.com/us/app/eulerangles/id584911325?mt=8

Ilian

Here is an educational video on the singularities present in PUMA-type robots: Singularités d'un robot à six axes (Singularities of a six-axis robot)

Ilian

Here is an article I wrote about Foxconn's Foxbot industrial robots: http://coro.etsmtl.ca/blog/?p=73

I think it fits perfectly this category.

Ilian

http://www.parallemic.org/MOTOMAN_UP50N.zip

Hi,

I am sorry. It seems that we have forgotten to include that robot in the installation package. I just uploaded the zip file containing the Motoman UP50N robot model at http://www.parallemic.org/RoKiSim.html. Just unzip the file and copy its contents into the CAD_Robots folder of RoKiSim.

If you have the CAD model of the robot you want us to prepare for RiKiSim, just send it to us and we will do it. Note, however, that depending on the CAD file that you send us, the task may not be that straightforward. In any case, we need to calculate the so-called Denavit-Hartenberg parameters describing your robot.

Best regards,

Ilian
http://www.youtube.com/CoRoETS

Hi,

Sure, the software is completely free. I only ask that it is not distributed directly, but downloaded from my web site so that I can keep track of the number of downloads and justify spending more funds on this project.

By the way, if you want any six-axis PUMA-type robot model to be included, just send it directly to me and we will made the necessary changes so that it can be opened in RoKiSim.

Ilian

Hi Fabian,

Thanks for your comments. Next, we plan to implement advanced workspace computation features. To the best of my knowledge, the best workspace computation you can find in commercial simulators is the zone attainable by the center of the robot wrist, which is not very useful. We intend to display the zone attainable by the active TCP for a given constant orientation or for a prescribed range of orientations.

Any suggestions will be greatly appreciated.

Ilian

P.S. Could you please e-mail me the typos you found?

Hello,

The second part of this lecture of mine, https://cours.etsmtl.ca/gpa546/Notes/L6L7.pdf, shows in great detail how to solve the direct and inverse kinematics of a typical 6-axis serial robot, the ABB IRB 120 industrial robot. It even shows how the confdata is calculated (in ABB, a string of four integers is used to specify the robot configuration for a given end-effector pose). I hope you will find this useful.

Ilian
Professor at the ÉTS, Montreal, Canada
http://www.youtube.com/GPA546

Hi,

Our Control and Robotics Laboratory (ÉTS, Montreal) just released a 3D robot simulation software for six-axis serial robots. Other than all the typical features like jogging and importing geometrical objects, the software displays the Denavit-Hartenberg reference frames and the various solutions of the inverse kinematics of the robot.
http://www.parallemic.org/RoKiSim.html