AUTHOR:
Simone Rossetti, Rome, August 2020
NB: The use of this material is free as long as the content is not altered and the name of the author and the link to this repo are always cited.
MATLAB Robotic custom toolbox and examples. It contains: linear algebra functions, manipulator's direct kinematic tools, inverse direct kinematic, numerical and analytical methods, differential kinematic, inverse differential kinematic, trajectory planning functions at cartesian and joint space levels, some controle scheme and some basic feedforward-feedback control loops. Here is a basic example on what you can achieve with this toolbox:
Anthropomorphic arm with spherical wrist (6R) performing a circular path with end effector changing orientation over quintic time law profile.
DH table:
joint_i alpha_i a_i d_i theta_i
_______ _________ ______ ______ _______
1 {'pi/2' } {'0' } {'0' } {'q1'}
2 {'0' } {'a2'} {'0' } {'q2'}
3 {'pi/2' } {'a3'} {'0' } {'q3'}
4 {'-pi/2'} {'0' } {'d4'} {'q4'}
5 {'pi/2' } {'0' } {'0' } {'q5'}
6 {'0' } {'0' } {'0' } {'q6'}
Manipulator:
Time law:
Trajectory:
End effector velocity:
End effector rotation (axis/angle):
End effector angular velocity:
Result:
