Analysis of a 4RPR Manipulator

Version (109 KB) by Ramana
GUI for manipulability, workspace analysis and path tracking of a 4-RPR planar manipulator
Updated 24 Apr 2016

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The GUI developed here implements Forward and Kinematic analysis of the system (4RPR planar manipulator). GUI allows user to tweak the geometry of the system and allows the user to choose any set of active and passive joints (for the Forward kinematic problem). The GUI provides users to see the Yoshikawa and Condition Number manipulability of the manipulator for a given set of geometrical parameters. Path Tracking can be performed for simple shapes such as circles and ellipses. The GUI allows users to look at open loop and closed loop (joint space and task space) controls. The control gain and simulation time can be easily tweaked.
A pdf document is provided with the code. This document is a report on the project and provides information regarding the formulation of the kinematic analysis. Please feel free to take a look at this document.
The main file that you will need to open and work with is 'Planar4RPRGUI.m'

Cite As

Ramana (2024). Analysis of a 4RPR Manipulator (, MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2015b
Compatible with any release
Platform Compatibility
Windows macOS Linux
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