Kinematic-and-Velocity-Control-of-Robot-Manipulators

Robot Manipulators Tracing a Path

Instruction

Requires Peter Corke’s Robotics toolbox installed on your system (ver 10.4 or newer). See https://petercorke.com/toolboxes/robotics-toolbox/.

Run the files:

hw3problem1
hw3problem2

Forward Kinematics - Product of Exponentials in the body frame.
Inverse Kinematics - Damped Least Squares Method using the Analytical Jacobian.
The Manipulability Ellipsoid is plotted.