uaibot.demo.demo module

class uaibot.demo.demo.Demo

Bases: object

A class that contains demonstrations in robotics.

static control_demo_1()

Show a robotic manipulator drawing a circle in a drawboard. The task demands that the manipulator keep a constant pose while drawing.

static control_demo_2()

Show two robotic manipulators cooperating to transport an object between two plates. Note that the relative pose between the two end-effectors must be kept.

The control uses task priority framework using the null space of the task Jacobian. The task of keeping the relative pose is prioritized over the task of moving the plate.

static control_demo_3()

Show a robot manipulator that must achieve a pose inside a hole. Collision must be avoided.

Perform second order kinematic control with constraints that enforce collision avoidance.

static lesson_demo_3(robot_creator=None, width=800, height=600)

Show a robot manipulator that must achieve a pose inside a hole. Collision must be avoided.

Perform second order kinematic control with constraints that enforce collision avoidance.