Code covered by the BSD License
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botFwdKinematics2(x,y,th1,th2...
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botInvKinematics2(xe,ye,r0)
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botThetaDot2(r,reDot,P,Q)
function result = botThetaDot(r,reDot,P,Q)
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mytry1(varargin)
MYTRY1 M-file for mytry1.fig
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plotbot2(x,y,theta1,theta2)
function plotbot(x,y,phi,theta1,theta2)
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View all files
Weighted Kinematic Control of PPRR Manipulator
by Hrishi Shah
26 Apr 2009
(Updated 16 Feb 2010)
A PPRR serial redundant Manipulator is modeled and controlled to trace a rotated ellipse.
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| File Information |
| Description |
A PPRR( 2 Prismatic 2 Revolute) serial manipulator is modeled and kinematic level control is provided to trace a rotated ellipse. Redundancy is removed by providing weights for the Prismatic and Revolute joints.
Control is applied using a 4th order Runge Kutta by providing weights for the position and orientation of the manipulator. An adaptation of an earlier file submitted by Adam Fosbury.
A GUI is developed to easily change ellipse and manipulator parameters.
This file was created as a Final Project of MAE593 (Math. Methods in Robotics) under the supervision of Dr. Venkat Krovi at SUNY Buffalo. |
| MATLAB release |
MATLAB 7.6 (R2008a)
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| Updates |
| 16 Feb 2010 |
Acknowledged prof. of course in description. |
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