Description

Aim of the practical is to provide a computer program which computes the motions of a robot from a kinematic model and to visualize this motions with a graphics tool or library.

The kinematics of robot movements can be described by kinematic chains consisting of products of transformation matrices which descibe the movements of the joints of the robot. Inputs are the positions and angles of the joints, output is the position of th the effector.

Aim of the project is to implement the kinematic model for a sample robot and to apply a graphics library for the visualization of the motions.

Focus

Robotics, simulation and visualization.

Classification of the project

This project is suited for one or two students as a beginners' software practical.

Requirements

• Knowledge and some experience in programming with of C or C++.

Contact

Dr. Stefan Körkel
Junior Research Group Optimum Experimental Design
Interdisciplinary Center for Scientific Computing (IWR)
Im Neuenheimer Feld 368
Universität Heidelberg

e-mail: stefan.koerkel@iwr.uni-heidelberg.de
Office: INF 368 (IWR), R 401

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