VisuRo • Designed a general and efficient IK Engine for all types of robots. • Formulated 2nd order IK control algorithm with velocity and position tracking enhancement. • Developed kinematic based 2nd order impedance and admittance control algorithm without using complicated dynamic models.
- This Simulation Platform can be applied to any types of robots including humanoid robot, delta robot, 3D-printer, hybrid robot, dual arm, robot hand and stewart platform etc. - Users can build their own robot and test in this platform with the knowledge of DH-model. - VisuRo provides both analytical and numerical solutions including augmented Jacobian matrix, spatial kinematic vector, mass centroid matrix, momentum matrix and dynamic matrix etc, which is easy and convenient to use in academic research and industrial development. - Built in function for collision avoidance, singularity avoidance, joint position and torque saturation. - Vivid visualization of simulation results. - Easily and flexibly programmable platform.