WSRender: A Workspace Analysis and Visualization Toolbox for Robotic Manipulator Design and Verification
Abstract: Workspace analysis is essential for robotic manipulators, which helps researchers to study, evaluate and optimize their designs based on specific criteria with due consideration of ergonomics and usability. Although workspace analysis is a common research topic, current solutions provide design-specific evaluation and there is a lack of generic software tools for different hardware configurations. This paper presents WSRender, a versatile research-oriented framework for workspace analysis and visualization. It is based on the Orocos Kinematics and Dynamics Library (KDL) and the Matlab Robotic Toolbox. The software architecture is presented with four use cases for demonstrating its practical use in single robot, dual-arm manipulator performance evaluation, multi-robot interaction analysis and master-slave mapping.
If you have questions for using the toolbox or is interested in collaboration, please contact Dandan Zhang or Francesco Cursi. email: d.zhang17@imperial.ac.uk
The link for paper: https://ieeexplore.ieee.org/search/searchresult.jsp?newsearch=true&queryText=WSRender
Citation:
@article{zhang2019wsrender, title={WSRender: A Workspace Analysis and Visualization Toolbox for Robotic Manipulator Design and Verification}, author={Zhang, Dandan and Cursi, Francesco and Yang, Guang-Zhong}, journal={IEEE Robotics and Automation Letters}, volume={4}, number={4}, pages={3836--3843}, year={2019}, publisher={IEEE} }
The link for the i) video introduction, ii) documentations and iii) tutorials is shown as follows. https://drive.google.com/open?id=1DBQpbzhAX6HyNKT4I-PGdcJvP0ZVKYWh
Pre-Requisites: If you want to use the Matlab version:
- Install Matlab Robotic Toolbox 9.10
- Install Matlab Robotics System Toolbox
If you have a new robot design and want to use the C++ codes: 3. Install Orocos Kinematics and Dynamics Library (KDL)
More information can be viewed in the Wiki.