simulation and calculation kinematic for UR10e use Webots and Matlab
- Download :
git clone https://github.com/Mr-QB/UR10e-controlder.git
- Install environment for webots:
- Download Webots from here
- Open Webots, click
file
, selectopen world
,find the folder you just downloaded, select/UR10e controlder/vehicles/worlds/UR10e.wbt
.
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.txtControl_UR10_v1_basic_controler.py
: Get the list of matching variables from the above IK calculation that executes robot control in the simulation
You can watch the resulting demo video here: https://www.youtube.com/watch?v=gPxO5dmJ8sU