SIRF - Simple Robotics Framework for Rhino Robot

A framework which will teach basics of robotics such as Kinematics and Trajectory planning both by s

This work has been aimed at studying the kinematics of the Rhino Xr-3 robot and teaching the beginners in robotics to achieve specific tasks in real-time using the same. Previous work done concentrated only on the simulation of the kinematics routine for the Rhino robot. So the main motivation behind this work was to be able to perform kinematics routines as well as control the Rhino robot in real-time. Two graphical user interfaces, the RhinoGui and the RhinoWrite were developed in Matlab?. RhinoGui was designed such that the user can get a feel for the kinematics of the 5-axis articulated Rhino robot. The RhinoWrite was developed for demonstrating the basic trajectory planning method for the Rhino Xr-3 robot. Further the trajectory planning platform was tested for a particular experiment and was found to be accurate enough for experimental purposes. This comprehensive software package allows the user to learn the various aspects of serial manipulator basics and also helps in exploring the concepts better by working in real-time.