mr-qb / ur10e-controlder

simulation and calculation kinematic for UR10e use Webots

UR10e controlder:

simulation and calculation kinematic for UR10e use Webots and Matlab

Install

• Download : git clone https://github.com/Mr-QB/UR10e-controlder.git
• Install environment for webots:
  • Download Webots from here
  • Open Webots, click file, select open world,find the folder you just downloaded, select /UR10e controlder/vehicles/worlds/UR10e.wbt.

Programs include:

• Calc_Trajectory_v1.m: Calculate dimensional reference points and matching variables from a given trajectory. The results are returned to the file waypoint.txt and Trajectory.txt
• Control_UR10_v1_basic_controler.py: Get the list of matching variables from the above IK calculation that executes robot control in the simulation

Demo

You can watch the resulting demo video here: https://www.youtube.com/watch?v=gPxO5dmJ8sU