examples Directory Reference

Detailed Description

Benchmarks

We next provide a selection of problems solved with the CuikSuite. For each benchmark we include a problem description, and instructions on how to process them with the tools included within the CuikSuite. Alternatively you can also see a list of robots and linkages modelled in the CuikSuite.

Introductory Examples

• A simple tutorial example
• How to define individual joints
• A four bar linkage
• An example of how to define a world file from an ROS URDF

Planar Linkages

• A five bars linkage
• The Double Butterlfy linkage
• A deployable checkers pattern
• Laisant's angle trisector
• The 13-link Watt-Baranov trust
• The Wheelie series of linkages
• The Wunderlich mechanism
• Two planar arms cooperating to move an object
• A spider-like parallel robot
• The mechanism of the Smart Bird wing

Parallel Spatial Robots

• The General Stewart-Gough platform
• The Griffis-Duffy platform
• The Delta manipulator
• The Maryland manipulator

Serial Spatial Robots

• The general 6R loop
• The 6R Bricard loop
• The Barrett arm and hand
• Several RX60 robots cooperating
• The Universal robots
• Several industrial serial robots (via ROSIndustrial)

Robotic Hands

• A couple of robot hands
• Grasp synthesis (IJRR11 examples).
• Grasp optimization (RSS11 examples).

Service Robots

• The PR2 robot
• The REEM robot
• The YouBot robot
• The Baxter robot

Singularity Detection and Singularity-free Planning

• Detection of the frontiers/barriers in the position workspace
• Singularity-free path planning

Molecules

• The disulfide bond loop.
• The cyclohexane.
• The bicyclohexane.
• The cycloheptane.
• The cyclooctane.
• Other molecular problems (including protein loops)

Directories
directory	Barret
	The Barret arm and hand.
directory	Baxter
	The Baxter robot.
directory	Bio
	Some molecules to test the bridge to OpenBabel.
directory	Checkers
	The Checkers family of deployable mechanisms.
directory	Cycloalkanes
	The cyclohexane, bicyclohexane, cycloheptane, and cyclooctane.
directory	DeltaManipulator
	The Delta parallel manipulator.
directory	Disulfide
	A disulfide bond.
directory	DoubleButterfly
	The Double Butterfly Linkage.
directory	FiveBars
	A planar five bar linkage.
directory	FourBars
	A planar four bar linkage.
directory	IJRR
	Example used in the IJRR-11 paper.
directory	KinoCar
	Example used in the IROS-11 paper.
directory	MarylandManipulator
	The Maryland parallel manipulator.
directory	ParallelPlatform
	Three parallel robots.
directory	PR2
	The PR2 robot by Willow Garage.
directory	REEM
	The REEM robot by PAL robotics.
directory	RobotHand
	An four-fingered antropomorphic robot hand.
directory	ROSIndustrial
	A collection of robots from the ROS-Industrial project.
directory	RSS11Hand
	The manipulation examples used in the RSS-11 paper.
directory	Serial6R
	6R serial chains.
directory	SingFree
	Singularity free path planning.
directory	SingleJoint
	Examples of how to codify individual joints.
directory	SmartBird
	The planar mechanism used in the wing of the Smart Bird.
directory	Star
	A planar mechanism forming a star (or a spider).
directory	Symmetry
	Different problems to test the motion under symmetries.
directory	Torus
	A mechanism with a torus-like configuration space.
directory	Trisector
	Angle trisector.
directory	TwoArms
	Two robot arms cooperatively manipulating an object.
directory	TwoRX60
	Staubli RX60 robots cooperating.
directory	Watt-Baranov
	A 13-link Watt-Baranow truss.
directory	Welding
	A simple tutorial on the CuikSuite tools.
directory	Wheelie
	The Wheelie family of mechanisms.
directory	WSSingularities
	Planar linkages used to test singularity-related tools.
directory	Wunderlich
	The Wunderlich mechanism.
directory	YouBot
	The youBot youBot robot by Kuka.