Computation of Inverse kinematics for 3dof planar robot

Tutorial?

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Creating the 3dof planar robot †

Creating the shape of robot using the OpenHRP format explained here: †

Follow this tutorial Using OpenHRP Format

robot_test.x3d

Create the XML file for the robot. †

robot_test.xml

Create the world file †

DynamicsWorld.xml

Creating Inverse kinematics module using Python Robot Toolbox. †

• Download the toolbox from
• Copy the transformation module from. Save it as transformations.py
• Place the transformations.py inside robot/ directory of toolbox.
• Place the robot folder in your sigverse workspace directory.
• Use the following script and put in your sigverse workspace directory .

Note: Ideally you can put your python scripts and modules anywhere on the disk, as far as you set your PYTHONPATH variable correctly. In this tutorial, we place them in our workspace.

kinematicSigverseTest.py

Creating the Controller for robot. †

This controller

DynamicsController.cpp

Creating the controller for object †

placing the cube on end endeffor of the robot.

Creating the makefile †

Then type on console to compile the code:

    $make 

Now, you need to set the library path using.

Then, load the xml file using sigviewer:

    $sigserver.sh -w ./DynamicsController.xml 

After the world loads, push "Start Button" to see the results of python code.

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