Two-armed WAM Barrett robot in Matlab
    16 May : 03:59  by Administrator


    I recently visited the Nara Advanced Institute of Science and Technology (NAIST). They have a dual WAM Barrett robot arm setup.

    See this article.I made and animate the models in Matlab. The arms glyphs should be accurate they are based on CAD data from the robot supplier. However, the positioning of the base of the arms was done from memory so may be slightly inaccurate.
    It is possible to use these kinematic models and the ellipsoids around them to do collision avoidance and path planning. The joints on each arm can be controlled individually to simulate tasks being performed.