JavaScript programming for an industrial robot arm

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The goal of the project is to create a 3D virtual robot than can be used to simulate production machine operations. The robot will be made in VRML environment. To do this it is necessary to define a robot Inverse Kinematic model (basically a transformation matrix), which is done already. Now the math model needs to be translated into JavaScript codes. The programme should take the robot\'s end tool point X, Y, Z position and orientation as input, and generates the corresponding robot joints values. The result is that the user can grab the robot\'s end and drag it to the position he wants, instead of having to move each joint separately.
All we need is the translation of the math model to JavaScript codes. The programme has to take some values (parameters) as inputs and calculate joint angles. You will be provided with the math model.

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