Task Space control of RPRP manipulator

Forward and inverse kinematics of RPRP manipulator with task space control to trace trajectories.

Description

Forward kinematics:
It is applied through homogeneous transformation matrix, almost in the similar fashion as any CAD software perform rotation and translation of CAD model.
Inverse Kinematics:
It is applies through the use of MATLAB's fmincon and ode45 functions.
Task space control
Applies Jacobian matrix formulation and pseudoinvrse of it.
Task space control is carried out to trace two user defined standard trajectory, namely circle and ellipse. The control performance if better in the case of circle. Since, we are applying only proportional control we have slightly inferior performance in case of ellipse.

File Description
readme.txt : Instructions for installation and usage
RPRP.pptx : Describes salient features

robotics_project.m
The main GUI source code
robotics_project.fig
figure file to be executed through guide
forward_kin.m :
Calculates Homogeneous transformation matrices for different joints and linkages
 inverse_kin.m :
The inverse kinamatics based on numerical approach
My_fun.m :
Function to be used by fmincon for numerical solution of joint variables
plot_RPRP.m :
Gets the dimension, which are set by set_dimensions and plots it to output screen
set_dimentions.m :
set_dimensions sets the value of position matrices of different joints
RPRP_sgraph.m
Jacobian formulation for trajectory tracing
 rprp_trace.m
Jacobian formulation for Inverse Kinematics

*Note:
Please press Forwar_kin/Home push button if you see broken links during simulation
To see task space control please select task space control check box

• Required Products: Optimization Toolbox
• MATLAB release: MATLAB 7.5 (R2007b)