# RobotArmHelix
3D Simulation, forward and inverse kinematics of a robotic arm in C# using WPF and helix-toolkit
![alt text](https://raw.githubusercontent.com/Gabryxx7/RobotArmHelix/master/Images/robotArmHelix.png)
This is a simple project developed in C# by using [helix-tookit](https://github.com/helix-toolkit/helix-toolkit). In order to compile this project the DLLs of Helix need to be compiled by downloading the source code from the helix repository and compiling them.
The aim of the project was to test forward and inverse kinematics which has been achieved thanks to helix and wpf. The Inverse kinematics has been developed on the base of http://www.alanzucconi.com/2017/04/10/robotic-arms/, it is in fact based on gradient descent.
The 3D models belong to the ABB's IRB 4600 Robotic Arm and can be found here: http://new.abb.com/products/robotics/industrial-robots/irb-4600/irb-4600-cad. Finally, the meshes have been converted from STEP to STL by using FreeCad and simplified for faster processing and better performances with MeshLab using the Qaudric Edge Collapse Decimation semplification filter giving 10.000 faces as input.
Based on the [RAV2](https://github.com/karthikram827/RAV2) project of karthikram827
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使用WPF和helix-toolkit在C#中对机械臂进行3D模拟、正向和反向运动学_C#_下载.zip
共61个文件
stl:31个
cs:14个
config:3个
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使用WPF和helix-toolkit在C#中对机械臂进行3D模拟、正向和反向运动学_C#_下载.zip
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使用WPF和helix-toolkit在C#中对机械臂进行3D模拟、正向和反向运动学_C#_下载.zip (61个子文件)
RobotArmHelix-master
RobotArmHelix.sln 986B
RobotArmHelix
App.config 182B
3D_Models
IRB4600_20kg-250_LINK3_CAD_rev005.stl 488KB
IRB4600_20kg-250_BASE_CAD_rev04.stl 488KB
IRB6700-MH3_245-300_IRC5_rev00_CYLINDER_CAD.stl 293KB
IRB6700-MH3_245-300_IRC5_rev01_LINK04_CAD.stl 293KB
IRB6700-MH3_245-300_IRC5_rev01_LINK06_CAD.stl 293KB
IRB4600_20kg-250_LINK3_CAD_rev04.stl 19KB
IRB6700-MH3_245-300_IRC5_rev02_LINK03m_CABLE.stl 488KB
IRB6700-MH3_245-300_IRC5_rev00_LINK02_CAD.stl 293KB
IRB6700-MH3_245-300_IRC5_rev00_LINK02_CABLE.stl 49KB
IRB4600_20kg-250_LINK1_CAD_rev04.stl 488KB
IRB4600_20kg-250_LINK2_CAD_rev04.stl 488KB
IRB6700-MH3_245-300_IRC5_rev00_LOGO1_CAD.stl 19KB
IRB6700-MH3_245-300_IRC5_rev00_LINK03b_CABLE.stl 293KB
IRB6700-MH3_245-300_IRC5_rev01_BASE_CAD.stl 293KB
IRB6700-MH3_245-300_IRC5_rev00_ROD_CAD.stl 293KB
IRB4600_20kg-250_CABLES_LINK3_rev03.stl 488KB
IRB6700-MH3_245-300_IRC5_rev01_LINK05_CAD.stl 293KB
IRB4600_20kg-250_CABLES_LINK1_rev03.stl 488KB
IRB6700-MH3_245-300_IRC5_rev00_LOGO2_CAD.stl 19KB
IRB4600_20kg-250_LINK6_CAD_rev04.stl 187KB
IRB4600_20kg-250_LINK5_CAD_rev04.stl 488KB
IRB6700-MH3_245-300_IRC5_rev02_LINK01_CABLE.stl 293KB
IRB6700-MH3_245-300_IRC5_rev01_LINK04_CABLE.stl 195KB
IRB6700-MH3_245-300_IRC5_rev02_LINK01m_CABLE.stl 293KB
IRB6700-MH3_245-300_IRC5_rev02_LINK01_CAD.stl 293KB
IRB4600_20kg-250_CABLES_LINK2_rev03.stl 488KB
IRB6700-MH3_245-300_IRC5_rev02_LINK03_CAD.stl 293KB
IRB6700-MH3_245-300_IRC5_rev00_LOGO3_CAD.stl 38KB
IRB4600_20kg-250_LINK4_CAD_rev04.stl 488KB
IRB6700-MH3_245-300_IRC5_rev00_LINK02m_CABLE.stl 49KB
IRB6700-MH3_245-300_IRC5_rev00_LINK03a_CABLE.stl 244KB
MainWindow.xaml 14KB
App.xaml 316B
obj
Debug
TemporaryGeneratedFile_5937a670-0e60-4077-877b-f7221da3dda1.cs 0B
TemporaryGeneratedFile_036C0B5B-1481-4323-8D20-8F5ADCB23D92.cs 0B
MainWindow.g.cs 22KB
MainWindow.baml 12KB
RobotArmHelix_Content.g.cs 810B
RobotArmHelix.g.resources 12KB
MainWindow.g.i.cs 22KB
RobotArmHelix.csproj.FileListAbsolute.txt 2KB
RobotArmHelix_Content.g.i.cs 810B
TemporaryGeneratedFile_E7A71F73-0F8D-4B9B-B56E-8E70B10BC5D3.cs 0B
App.g.i.cs 2KB
RobotArmHelix.Properties.Resources.resources 180B
App.g.cs 2KB
MainWindow.xaml.cs 33KB
bin
Debug
RobotArmHelix.vshost.exe.manifest 479B
RobotArmHelix.exe.config 182B
RobotArmHelix.vshost.exe.config 182B
Properties
Resources.Designer.cs 3KB
Settings.Designer.cs 1KB
Settings.settings 195B
AssemblyInfo.cs 2KB
Resources.resx 5KB
App.xaml.cs 329B
RobotArmHelix.csproj 7KB
Images
robotArmHelix.png 558KB
README.md 1KB
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