SGSC is a set of Grasshopper tools that allows users to simulate and control a range of Staubli six-axis robot arms. It contains a highly customized inverse kinematics solver, visual simulator, diagnostic tool, and code generator.SGSC helps to solve many of the problems with traditional trigonometric IK solvers, including allowing joint calculations to go well beyond +/- 180 degrees, and resetting joints whose angles exceed their limits. There are a multitude of inputs and options that allow users to create highly customized and complex control logics that are all editable at a high level of programming (so that none of the underlying coding needs to be changed).
A major benefit of SGSC is the ability to take advantage of the advanced logic and data matching methods built in to Grasshopper to parametrically assign simulation and control settings. For example, the electrical and pneumatic outputs can easily be triggered based on changing parameters of the simulation.
If you use any of the tools included in [S]GSC for your own project, please credit the author by placing the following text somewhere in your project description:
“This Project utilizes [S]GSC, a set of Grasshopper tools developed by Brian Harms with help from Brandon Kruysman, Jon Proto, and Andrew Atwood.”
For Tutorials, please see the TUTORIALS page.
For Downloads, please see the DOWNLOADS page.