This repository contains my project assignments for the graduate-level course: BITS F441 - Robotics, under Dr B K Raut. I passed the course with the highest possible grade. The project specifically consists of development of inverse and direct kinematic models as well as dynamic models of 3 axis articulated robotic arm. At a later stage, I was supposed to simulate IRB 1410 in ABB RobotStudio using FlexPendant IRC5 controller.
The files description is present in this readme and for further details, refer to the final reports of individual tasks.
- RRR Forward and Inverse Kinematics using Hand Calculations - This assignment involved the calculation of DH Parameters and the Forward and Inverse Kineamatic Equations using Jacobians, The analysis was done using hand calcultion as well as in simulation. A L-RRR robot was used for analysis purpose.
Have a look at the file Scara_setup for the pybullet simulation file. The hand calculations and analysis report is present here
- Dynamics of Robotic Arm - The hand report is present here. The purpose of this project was to find the control torque for a RRR robotic arm when it is affected with an external force at the end-effector.
Python Script for Automatic Calculations and Python script for matrix multiplication involve Spicy-python interface.
Newton-Euler and Lagrange Methods were used with recurrsion for finding the force, and torque vectors.
- ABB RobotStudio IRB 1410 articulated arm control
Details of this project are present in the readme file inside the directory. A short demostration gif is present below.
- Saddle Point - This was just a utility function created in MATLAB for experimenting with saddle points.
The corresponding sections show the setup guide to the softwares that I have used. It also contains the setup up guide for loading my project.
Download the official version of RobotStudio and the operating manual from here.
The software contains a premium version which is paid, but they also provide a trial version for 30 days. Download the trial version, extract the files and initiate the installation process from setup.exe.
Once everything is setup, clone my repository, and open the Assignment_letter.rssln file.
Make sure you install the RobotWare 6.0 IRC5 controller Add-on. This will allow you to access the virtual Flexpendant controller.
Once everything is setup, follow the steps in my video demonstration.
To install Anaconda follow the instructions in the following webpage:
https://www.digitalocean.com/community/tutorials/how-to-install-anaconda-on-ubuntu-18-04-quickstart
Create a conda environment for the PyBullet tutorial:
$ conda create --name pyb_env
Switch to the newly create environment (you will notice the name of the environment on the command line in the extreme left):
$ conda activate pyb_env
Once in the desired environment install the following packages:
$ conda install nb_conda_kernels
Install PyBullet (while in the environment):
$ pip install pybullet
Install Matplotlib (while in the environment):
$ conda install matplotlib
To check the installation launch:
$ python
Inside the python environment import the pybullet and matplotlib libraries:
>> import pybullet
>> import matplotlib
If this command executes without any error then the installation is successful.
Check the Jupyter notebook by running the following command in the bash shell:
$ jupyter notebook
This command will provide a URL. Run the URL in a browser (Firefox). If a web page opens up, then the Jupyter software is successfully installed.
- RobotStudio Tutorials by Hogskolani Skovde University
- ABB Tutorial by CHETAN JALENDRA
- Official ABB RobotStudio Tutorials
- Complete Tutorial of RobotStudio | Youtube
- British Columbia Institute of Technology Mechatronics and Robotics Tutorials for ABB RobotStudio
- RobotStudio tutorial for beginners by viktor007r
- ABB RobotStudio Forum | differences - MoveJoint / MoveLine