Robotic Arm Simulator and Real Manipulator

**Project: UR10 Robotic Arm Simulator and Real Manipulator**

In this project, both a detailed simulation and a physical prototype of the UR10 robotic manipulator were developed. The simulator was implemented using the ReactPhysics3D library and OpenGL, while the prototype was created for testing and demonstrating control algorithms and inverse kinematics in real-world conditions.

**Technologies:** ReactPhysics3D for physical calculations and dynamic simulation, OpenGL for 3D model visualization, Eigen for mathematical computations and matrix operations, hardware and sensors for assembling the real robot.

**Project Features:** Development and testing of inverse kinematics for precise control of the manipulator in both virtual and real environments. Integration of collision prevention algorithms between links, ensuring safe and efficient robot operation. Creation of a real robotic manipulator, allowing for the demonstration of the capabilities and effectiveness of the developed algorithms in action.

**Project Goal:** The aim of the project was to create a comprehensive solution for training, testing, and demonstrating the control of industrial robots, as well as advancing research in robotics and the automation of manufacturing processes. The project provides a unique opportunity to analyze and compare the performance of algorithms in simulated and real conditions.