The package will handle a 6 - DOF robot which includes a spherical wrist. Thus, the first three joints could be revolute or prismatic which yields 8 different configurations of manipulators (i.e., XXX:RRR). The user may use this package as a black box for design applications and as a white box for education and training purposes.
Table 2: Possible robot configuration.
The first input is the manipulator configuration, see Table 2. The package will ask for the DH parameters one after another. From the manipulator configuration, the package recognizes the variables of the manipulator.
If the package is used as a white box, the package shows a menu with a list of tasks that the user may select.
Tasks are listed in Table 3. The user then types the number of the task that should be done. The package will ask for the other inputs required to do the calculations for the assigned job.
The black box includes
1. Full control loop implementation(PID & Dynamics based)
2. Full simulation loop
3. GUI with error analysis
The inputs and Outputs can be summarized in the following sections.
