Modelling and Simulation of Kuka kr6 robot. by Rohit Mishra

A fully working Matlab Simulation of KUKA KR6 robot with Direct kinematic Parameters is done. (kuka, robotic arm, robotic manipulator)

KUKA_GUI(varargin)

direct(q1,q2,q3,q4,q5,q6)

Multiple Rapidly-exploring Random Tree (RRT) by Gavin

Multiple RRT implementation for mobile robot path planning or C-space manipulator motion planning (rrt, rapidlyexploring rand..., path planning)

get_axis_handle(current_figORaxes)

RrtPlanner

RrtPlannerTests

Two-Link Line Tracking Manipulator by Mohammad Saadeh

Define your inputs and let this code track your line (manipulator, robotic arm, twolink)

Line_tracking_MANIPULATOR.m

Two-Link Circle Tracking Manipulator by Mohammad Saadeh

Define Your inputs and let this script track your circle (twolink, manipulator, circletracking)

Circle_tracking_MANIPULATOR.m

Weighted Kinematic Control of PPRR Manipulator by Hrishi Shah

A PPRR serial redundant Manipulator is modeled and controlled to trace a rotated ellipse. (robotics, manipulator, control)

botFwdKinematics2(x,y,th1,th2)

botInvKinematics2(xe,ye,r0)

botThetaDot2(r,reDot,P,Q)

Kinematic/Dynamic Control of a Two Link Manipulator by Hrishi Shah

Kinematic and Dynamic models of a Two Link Manipulator undergo non-linear feedback linearization. (manipulator, kinematic, control)

DYN_CL_B1(t,X)

DYN_CL_B2(t,X)

DYN_CL_B3(t,X)

Kinematic Control of 3PRR - Articulated form of Hexapod by Hrishi Shah

A Hexapod is modeled as a 3PRR by taking top view projection and controlled Kinematically. (control, kinematics, robotics)

[]=parallelplot1(j_vars, bases, lengths)

[qdot]=Mydiff(t,x)

[x]=myfunc(bx, by, phi)

Dynamic Control of Two Link Manipulator with redundant coordinates by Hrishi Shah

A Two Link Manipulator is modeled with 4 DOF's and redundancy is resolved with 3 different methods. (dynamic, control, redundant)

CONSTRAINT_ERROR_1(th1,x2,y2,th2)

CREATE_ANIME_1(aviobj,T,th1,x2,y2,th2,h)

ROBO_midterm_f1(t,X)

4RRR Parallel Manipulator by Hrishi Shah

This file is obsolete. newer version available in description. (parallel, manipulator, robotics)

[]=newtry()

[]=parallelplot1(j_vars, bases, ends, lengths)

[qdot]=Mydiff(t,x)

Plot and Animate Robot by Husam Aldahiyat

Given the DH parameters this GUI plots the robot and allows you to move it around. (joint, forward, plot)

FK(DH,w,symbolic,from,to)

roboticsc(varargin)

4RRR Kinematics with GUI and Mouse Support by Hrishi Shah

Fully Generalized 4RRR Kinematics with GUI (kinematic, control, parallel)

A_4RRR_Gui(varargin)

[]=parallelplot1(j_vars, bases, lengths, platformplot ,serp...

[platformplot serplot curveplot]=parallelplot1init(j_vars, ...