Have a look at the file Scara_setup for the pybullet simulation file. A L-RRR robot was used for analysis purpose.

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.

The files description is present in this readme and for further details, refer to the final reports of individual tasks. At a later stage, I was supposed to simulate IRB 1410 in ABB RobotStudio using FlexPendant IRC5 controller. The project specifically consists of development of inverse and direct kinematic models as well as dynamic models of 3 axis articulated robotic arm. I passed the course with the highest possible grade.

This repository contains my project assignments for the graduate-level course: BITS F441 - Robotics, under Dr B K Raut. IRC 1410 FlexPendant Control - ABB RobotStudio

6 C r e a t i n g a s y s t e m f r o m b a c k u p. 2 V i e w i n g s y s t e m p r o p e r t i e s. 1 C o n n e c t i n g a P C t o t h e c o n t r o l l e r. 1 1 L o a d i n g a n d s a v i n g p r o g r a m s a n d m o d u l e s. 1 0 P r o g r a m m i n g e x t e r n a l a x e s. 4 T u n i n g t h e m o t i o n b e h a v i o r. 2 S e t t i n g u p t h e M u l t i M o v e. 1 A b o u t p r o g r a m m i n g M u l t i M o v e.

9 P r o g r a m m i n g M u l t i M o v e s y s t e m s. 8 T e s t i n g p o s i t i o n s a n d m o t i o n s. 1 W o r k f l o w f o r p r o g r a m m i n g a r o b o t. 2 T r o u b l e s h o o t i n g a n d o p t i m i z i n g g e o m e t r i e s. 1 I m p o r t i n g a s t a t i o n c o m p o n e n t. 2 T r a c k m o t i o n o f t y p e I R B T x 0 0 4. 1 T r a c k m o t i o n o f t y p e R T T o r I R B T x 0 0 3. 90 2.4 Manually setting up system based on RobotWare 5.xx with track motion. 87 2.3 Creating a system with external axes automatically. 1 S e t t i n g C o n v e y o r t r a c k i n g. 2 S e t t i n g t h e C o n v e y o r t r a c k i n g s t a t i o n. 1 W o r k f l o w o f b u i l d i n g a s t a t i o n. 1 6 A t t a c h i n g a n d d e t a c h i n g o b j e c t s. 1 0 T h e C o n t r o l l e r S t a t u s w i n d o w. 5 T h e C o n t r o l l e r b r o w s e r. 3 T h e P a t h s & T a r g e t s b r o w s e r.

1 R i b b o n, t a b s a n d g r o u p s. 2 A c t i v a t i n g R o b o t S t u d i o. 1 I n s t a l l a t i o n o p t i o n s a n d p r e r e q u i s i t e s. 3 I n s t a l l i n g a n d l i c e n s i n g R o b o t S t u d i o. 8 L i b r a r i e s, g e o m e t r i e s a n d C A D f i l e s. 7 R o b o t a x i s c o n f i g u r a t i o n s. 4 C o n c e p t s o f p r o g r a m m i n g.

Abb robotstudio tutorial pdf