JRoboOp

Main page
Overview
- Inverse kinematics
- Controllers
Java classes
Download
Demo

PRISMA Lab

Robotics and Automation Group of the University of Naples.

Java Web Start Demo

Launch the JRoboOp applications clicking on the following links; JWS starts installation and then it runs the demo.
Once the application is running try Ctrl+h on 3D model and Shift+h on plots window to show the help message.

Dynamics and Kinematics

Demonstration of direct/inverse kinematics and of dynamics model. Test the effects of gravity and of the external forces applied to your robot model:

Recursive Newton-Euler algorithm demo

The available robots model on the web are:

puma560.xml
scara.xml
comau_smart3_nodynamics.xml

Closed Loop Inverse Kinematics

Demonstration of CLIK algorithms. The robot model is a 3 links planar robot

Jacobian inverse and jacobian transpose.
Joints stroke constraint.
Obstacle constraint.

End Effector and Joints Controller

Robust control.