Analysis of a 4RPR Manipulator

GUI for manipulability, workspace analysis and path tracking of a 4-RPR planar manipulator

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'