Educational 6-Axis Robot

The present work forms the basis for a novel training robot for universities. The proposed basic mechanical platform is available as open source for anyone who could be interested in it. The developed kinematic description, and the data that can be used for a dynamic description, allow students the conception and design of controllers and software for the robot. This can be used both for simple handling tasks, such as for more complex force-controlled applications. The present work shows that also with limited financial resources, a sophisticated training robot can be developed, with which it is possible to develop innovative controllers and software concepts and test them.