This was supposed to be a project for my Modelling and Control of Robotic Systems.
But that didn't happen. And in the end, it was just a fun experiment.
Firstly, The thing contains of 2 parts:
- Plot that shows the position of end-effector in the 3d space.
- The robot arm itself. The end effector position is generated and the angles of the joints are calculated using the inverse kinematics and then all the translations andd rotations are being applied.
There are some modes that can be applied on the robot arm after the simulation is started:
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"l" ==> End effector periodically moves on a line.
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"e" ==> End effector periodically moves on an ellipse.
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"i" ==> End effector periodically moves on an infinity.
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"r" ==> A random point is generated and the end effector slowly moves to that point.
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"z" ==> Both the plot and the robot can be rotated in the space. If 'z' is pressed then the rotation is reseted into 0 immediately.