Weighted Kinematic Control of PPRR Manipulator
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.
Cite As
Hrishi Shah (2024). Weighted Kinematic Control of PPRR Manipulator (https://www.mathworks.com/matlabcentral/fileexchange/23910-weighted-kinematic-control-of-pprr-manipulator), MATLAB Central File Exchange. Retrieved .
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