This video demonstrates the simulation of the Katana robot including its twisted cables, with the Virtual Robot Experimentation Platform (V-REP: http://www.v-rep.eu ). The manipulator is controlled in direct and inverse kinematics. The twisted cables are handled through inverse kinematics (notice how the lower cable doesn't intersect with the robot). Cable handling doesn't require a single line of code. The minimum distance between the robot and obstacles is recorded and displayed during the whole simulation. The robot is controlled with a threaded script that contains less than 50 lines of code. The original Katana CAD model is courtesy of Neuronics AG ( http://www.neuronics.ch )
The simulation of the flexible cables looks very good. Impressive!
Great job!!!
PauloDebenest 1 year ago