Serial-RPR Kinematics Visualizer (v1.1)

Simulate a serial chain mechanism by direct manipulation and even record/playback motion sequences!

View a demo (v1.0) at:
http://youtu.be/rBMatNxKAow

New in this update:
* Bugs fixed, Refinements made.
* See comments in .m file for more detail

Highlights -----------------------------
* This mechanism is configured with a revolute ground joint, then prismatic and revolute joints (RPR).
Use Forward Kinematics mode to control the joint parameters or Inverse Kinematics mode to control the end effector position and orientation.
* The geometry can be specified by a single ratio parameter.
* The Trace Recorder tool records end effector position and orientation while the user controls the mechanism and saves a .mat file containing the data
* The Trace Playback tool loads a .mat data file and allows the user to step through the recorded motion sequence.