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A 3D robot arm simulator made with C++ and OpenGL

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samilauronen/robosim

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Robosim

3D robot arm simulator made with C++ and OpenGL. Can simulate any robot arm with rotational joints when given its Denavit-Hartenberg parameters. The robot is rendered using programmatically generated meshes that adapt their dimensions to the robot's link lengths. Lighting is implemented using Phong shading.

Features:

  • Live control of joint angles
  • Live editing of the Denavit-Hartenberg parameters of the robot
  • Shows TCP world position using forward kinematics
  • Shows linear and angular velocity of the TCP using the Jacobian matrix
  • Numerical inverse kinematics to any point given by right click of the mouse

demo

Libraries used:

  • OpenGL for 3D rendering
  • GLFW for window management
  • ImGUI for user interface
  • Eigen for linear algebra