Here I provide screenshots and descriptions of some of the programs I wrote during my research. I had to remove the downloads because of the size of my thesis.
These programs are written in C++ and use an OpenGL renderer, so they should be fairly portable, bar the front end which is based on either Win32 or MFC. I will post source code to accompany each program once I decide what to do about licensing.
SCIKAN: Sinus cone Constrained Inverse Kinematics for ANthropomorphic limbs
The swivel angle of the arm is measured about the vector pointing from the shoulder to the wrist. Given a goal
state for the end effector (the wrist frame) this program solves for an optimal swivel angle based on the motion range
of both the shoulder and wrist. This approach is based on the IKAN
inverse kinematics algorithm and realistic
joint sinus cone constraints. At the moment dummy data is
provided for the shoulder and wrist constraints.
Download Removed
HPCT Inverted Pendulum
This is a three dimensional simulation of an inverted pendulum. The control model is based on a two dimensional HPCT implementation by William Powers,
scalar quantities have been exchanged with vectors. The simulation itself is based on the Vortex API.
Download Removed
Constrained QuCCD IK
A 20 link QuCCD IK
chain with 3DOF reach cone
constraints. See Chris Welman's thesis for an
introduction to CCD IK.
Both the end effector position and orientation may be specified. Although this method works well for long chains with many
redundant degrees of freedom, in my experience the CCD
IK method is not robust enough for use with highly constrained shorter
chains such as a human arm.
Download Removed
Robot Arm Simulation
An arm simulation implemented using MathEngine consisting of hinge (1DOF) and ball and socket
(3DOF) joints driven by a CCD
IK algorithm. PID controllers are
used to determine joint torques based on reference and sensed angles. Control parameters can be observed using the oscilloscopes.
Download Removed