OAU Robotics iLab

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The OAU robotics iLab can be used to perform three experiments, namely Position Control Experiment, Gravity Experiment and Trajectory Planning Experiment. The robotic arm in use in this lab has five degrees of freedom, four rotary joints (waist, shoulder, elbow and wrist), one prismatic joint (gripper joint). The position control experiment is targeted for people new to the concept of robotics and it enables users to control each motor by a slider on the graphical interface of the client. The robotic arm and the interface of the position control experiment are shown below://
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The gravity experiment comes into play since more torque is required to raise a robotic arm under gravity. The experiment enables users observe and experiment with the effect which gravity has on the control of the robotic arm.
The trajectory planning experiment is a kinematics experiment. The user computes the inverse kinematics to find the necessary joint configurations to get the robotic arm to follow a desired trajectory. Screen shots of the interfaces for the gravity and the trajectory planning experiments are shown below://
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