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The aim of this project was to create a C++ library for RTX robot. It would be useful to establish a simpler communication between low level functions given in a previous Win32 library and a human user. Produce a library that will connect the library provided in the robot documentation with a human being, through more easily understandable sentences for movement of the robot. A user should not need to know internal robot behavior when operating the arm. It’s clear that robots are increasing their role within the industrial scene from few years ago. And it’s also clear that their use is becoming to reduce costs and improve productivity, for both little and big enterprises. Inverse kinematics resolution is one of the more complicated tasks you find when working in robotics. The Direct kinematics problem is always defined. By contrast, inverse kinematics problem is not always solvable, meaning that it is not always possible to achieve any necessary position or orientation with a given manipulator. The robot control is managed by a PC via a serial port. The PC, which receives data from the user, calculates robot coordinates and transcribes them to robot encoder counts for sending orders to the robot motors which allow it reach the desired position. Then, “UMI robot User and Programmer’s Manual” was written to document the created library. You can find complete information about safety conditions, robot equipment, initialising procedure and problems solving.
Tags : robot equipment, win32 library, robot behavior, inverse kinematics problem, robot control, safety conditions, desired position, level functions, c library, serial port, coordinates, robotics, sentences, robots, programmer
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