Robotics-Final-2019

A repository for the Final Project for MAE 547 Robotics

MATLAB Guide tutorial: https://www.youtube.com/watch?v=cl0AcnN3Bmk&t=1640s

a) Homogeneous:

Methods

1. About vector:
   i) Pure translation
   ii) Pure Rotation
   iii) Both
   

2. About frame
   i) Pure translation
   ii) Pure Rotation
   iii) Both
   

b) Euler:

User input:

1. Forward kinematics:
   ZYZ
   ZYX
   angles
   OR
   

2. Inverse kinematics:
   rotation matrix
   

c) Forward Kinematics:

User input:

1. DH parameters
   

OR

2. Robot Parameters
   

i) Number joints
ii) Types of joints
iii) Link lengths
iv) z axis: Steps: User input ----> vector form input with respect to the reference frame that we provide to the user
we calculate x axis
then we can find alpha

d) Workspace:

User input: Limits of joint configurations (q values) Types of joint Link Lengths

e) Inverse Kinematics:

User input: End effector pose End effector orientation w.r.t base frame (Hint: use ikine funtion)

f) Differential Kinematics:

User input:

1. DH parameters
   

OR

2. Robot Parameters
   

i) Number joints
ii) Types of joints
iii) Link lengths
iv) z axis: Steps: User input ----> vector form input with respect to the reference frame that we provide to the user
we calculate x axis
then we can find alpha
3) Translational velocities or Angular velocities or the user should specify q interms of t

g) Inverse differential kinematics and inverse kinematics using Jacobians:

Homework4 problem: user should give (pd and phid)

i) Manipulator control:

1. Operational space motion control (Inverse Dynamics Model)
2. Indirect force control via compliance control