A cross-platform simulator for the iconic Mitsubishi RM-501 Movemaster II robot arm, popular in the 1980s for industrial assembly, handling, and inspection tasks.

• Five-axis robot arm simulation
• Interactive OpenGL GUI
• Real-time keyboard, gamepad, and 3D mouse control
• Forward and inverse kinematics
• Simple and portable C codebase

Working:

• OpenGL GUI
• Control via keyboard, gamepad, or 3D mouse
• Double-precision forward/inverse kinematics
• Minimal C source files for easy portability

Experimental/Unfinished:

• Trajectory planner (by Stefan Wilhelm)
• Command-line ncurses TUI
• LinuxCNC HAL integration
• Messaging: ØMQ, Eclipse MQTT, and others

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

sudo apt -y install git mesa-common-dev libsdl2-dev libsdl2-ttf-dev libsdl2-image-dev freeglut3-dev sudo apt -y install fonts-dejavu-core sudo apt -y install libncursesw5-dev libpng-dev libzmq5 libzmq3-dev libpaho-mqtt-dev mosquitto linuxcnc-uspace-dev sudo usermod -aG input $USER # joystick access git clone https://github.com/koppi/rm501.git

cd rm501 make ./rm501

• SpaceNavigator: Enable HAVE_SPACENAV
• Gamepad: Enable HAVE_JOYSTICK
• Messaging (MQTT/ØMQ): Enable HAVE_MQTT / HAVE_ZMQ
• LinuxCNC: Enable HAVE_HAL

• Jakob Flierl (koppi)
• Stefan Wilhelm (trajectory planner)

LGPL-2.1-or-later. See LICENSE.