Unreal Engine 4 for Automation
Pukki, Evgeny (2021)
Pukki, Evgeny
2021
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Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:amk-202105107933
https://urn.fi/URN:NBN:fi:amk-202105107933
Tiivistelmä
The main purpose of this work was to create an algorithm for inverse kinematics in the environment of the game engine Unreal Engine 4. This algorithm was developed to control in real-time a spider robot, consisting of 12 servos, using Unreal Engine 4.
Additional goals of this work were to consider the capabilities of the Unreal Engine for creating procedural 3D animations. Examples of creating a procedural 3D animation of the lidar operation and a 3D animation procedure for a drone flight are considered in the thesis. This thesis also touches upon the process of creating firmware for a 3D printer using Unreal Engine 4.
The developed algorithm is based on the algorithm of inverse kinematics FABRIK and implemented with the help of integrated Unreal Engine 4 vector calculation functions. The thesis discusses also the main stages of creating a physical simulation of a spider robot.
The result of this work is a fully functional algorithm that has been tested to control a real robot spider. The created inverse kinematics algorithm can be modified to control any robot consisting of any number of servo motors where inverse kinematics is required.
The developed firmware for 3D printer allows real-time control of 5 motor control boards (ODRIVE V3.6 ) and 9 high-power brushless motors(D5065, 1800 W).
Additional goals of this work were to consider the capabilities of the Unreal Engine for creating procedural 3D animations. Examples of creating a procedural 3D animation of the lidar operation and a 3D animation procedure for a drone flight are considered in the thesis. This thesis also touches upon the process of creating firmware for a 3D printer using Unreal Engine 4.
The developed algorithm is based on the algorithm of inverse kinematics FABRIK and implemented with the help of integrated Unreal Engine 4 vector calculation functions. The thesis discusses also the main stages of creating a physical simulation of a spider robot.
The result of this work is a fully functional algorithm that has been tested to control a real robot spider. The created inverse kinematics algorithm can be modified to control any robot consisting of any number of servo motors where inverse kinematics is required.
The developed firmware for 3D printer allows real-time control of 5 motor control boards (ODRIVE V3.6 ) and 9 high-power brushless motors(D5065, 1800 W).