Features

Working features:

• OpenGL GUI,
• control from computer keyboard, Gamepad or 3D mouse,
• forward and inverse kinematics (double precision math),
• implemented in four C files for simplicity and portability,
• motor motion sound (see HAVE_AUDIO in source code).

Untested / unfinished features:

• Stefan Wilhelm's trajectory planner,
• ncurses UI,
• control from LinuxCNC or Machinekit via HAL.

Demo videos

• Mitsubishi RM-501 Movemaster II Robot Simulator
• Test of Stefan Wilhelm's trajectory planner

Clone, compile and run

sudo apt -y install git 
git clone https://github.com/koppi/rm501.git

• Required: OpenGL, SDL2, SDL2_ttf
• Optional: ncurses, libpng, ZeroMQ, Eclipse Mosquitto™, LinuxCNC / Machinekit HAL

# required packages
sudo apt -y install mesa-common-dev libsdl2-dev libsdl2-ttf-dev libsdl2-image-dev freeglut3-dev
sudo usermod -aG input $USER            # for joystick access
sudo apt -y install fonts-dejavu-core   # for DejaVuSansMono.ttf
# optional packages
sudo apt -y install libncursesw5-dev    # for console
sudo apt -y install libpng-dev          # for screenshots
sudo apt -y install libzmq5 libzmq3-dev # for ZeroMQ
sudo apt -y install libpaho-mqtt-dev    # for Eclipse MQTT
sudo apt -y install mosquitto           # for Mosquitto MQTT server
sudo apt -y install linuxcnc-uspace-dev # for LinuxCNC

Compile and run:

cd rm501/
make
./rm501 -s # start program with SDL GUI

– Tested on Windows 2022 and Ubuntu 22.04 .

Control

• Control via keyboard:

Key on Keyboard	Emulator Key
⎋ Escape	quit the simulator
⇥ Tab	toggle 3D view
Q, W, E, R, T	increase the joint values for waist, shoulder, elbow, pitch and roll
A, S, D, F, G	decrease the joint values for waist, shoulder, elbow, pitch and roll
I K, and direction keys (on your right-hand side)	control the end-effector position
C, V	move end effector in a circle in the x-y plane, reset circle position
N, H	move to 'nest' position, move to the 'all link horizontal' home position
O, L	open, close tool

Hold the shift key to move the joints in parallel, not linearly.

• Control via SpaceNavigator:

  see HAVE_SPACENAV in source code.

• Control via Gamepad:

  see HAVE_JOYSTICK in source code.

• Control via ØMQ

  Unfinished (see HAVE_ZMQ in source code).

• MQ Telemetry Transport via Eclipse MQTT.

  Partially working (see HAVE_MQTT in source code).

• Control via LinuxCNC / Machinekit:

  Unfinished (see HAVE_HAL in source code).

Authors

• Jakob Flierl - koppi