About

About

The plugin is developed at BMADE, the workshop of The Bartlett School of Architecture, for students to have a free and open source tool to experiment with the robots at the workshop.

We encourage others to use this tool if they find it useful (check the wiki on how to add your own robot model). Be advised that the software might not work as intended and we offer no responsibility for any damage caused while using this software. Industrial robots are very dangerous, keep safety in mind at all times.

To contact us please email to:

• Vicente Soler ([email protected])
• Vincent Huyghe ([email protected])

Credits

This project contains code based on other open source projects.

• UR kinematics: https://github.com/ros-industrial/universal_robot/blob/indigo-devel/ur_kinematics/src/ur_kin.cpp
• Spherical wrist kinematics: https://github.com/whitegreen/KinematikJava
• Matrix to axis angles: http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToAngle
• Sphere from 4 surface points: http://stackoverflow.com/questions/13600739/calculate-centre-of-sphere-whose-surface-contains-4-points-c
• Proper lerp between orientations: http://www.grasshopper3d.com/group/lobster/forum/topics/lobster-reloaded

License

The license of this software will inherit the more restrictive license of the open source projects mentioned above.