Software for simulating, controlling and visualizing robots
Warning
Currently this is a Work In Progress. It only simulates the robotic state and does not actually control a robot yet. My goal is to eventually use this software to visualize, control and simulate movements of any generic robotic object.
recording.mp4
Client
cd client
npm install
npm start
Controls
cd controls
rustup update # ensure latest version of rust
cargo run
- Improve floating point precision
- Offline simulation mode
- Collision detection of self and other objects in space
- Keep camera rotation on dev update
- Improved communication format
- share error messages and acknowledgements
- Protobuf/binary communication format
- STL support (cad models into simulation software))
Libraries
- https://www.npmjs.com/package/urdf-loader
- https://github.com/kripken/ammo.js
- https://sbcode.net/threejs
- https://threejs.org/editor/
- https://robotics.rs/
- https://github.com/openrr/urdf-viz
Examples
Reading
- https://ocw.mit.edu/courses/2-12-introduction-to-robotics-fall-2005/c8828a16e71c246b78461dd0596b983f_chapter4.pdf
- http://www.andreasaristidou.com/publications/papers/FABRIK.pdf
- https://courses.shadmehrlab.org/Shortcourse/minimumjerk.pdf (Smooth motion planning)
- https://en.wikipedia.org/wiki/Control_theory
- https://github.com/ericseppanen/epoch_playground
- https://gcc.gnu.org/wiki/Atomic/GCCMM/AtomicSync
- https://eater.net/quaternions
- https://en.wikipedia.org/wiki/Inverse_kinematics
- https://en.wikipedia.org/wiki/Motion_planning
- https://en.wikipedia.org/wiki/Kinematic_chain
- https://en.wikipedia.org/wiki/Holonomic_constraints
- https://en.wikipedia.org/wiki/Kinematic_diagram
- https://en.wikipedia.org/wiki/Mechanical_joint
- https://en.wikipedia.org/wiki/Linkage_(mechanical)
- https://en.wikipedia.org/wiki/Proportional%E2%80%93integral%E2%80%93derivative_controller