Task Space control of RPRP manipulator (Scripts) Publisher's description
from Sumit Tripathi
It is applied through homogeneous transformation matrix, almost in the similar fashion as any CAD software perform rotation and translation of CAD model
It is applied through homogeneous transformation matrix, almost in the similar fashion as any CAD software perform rotation and translation of CAD model.
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.
readme.txt : Instructions for installation and usage
RPRP.pptx : Describes salient features
The main GUI source code
figure file to be executed through guide
Calculates Homogeneous transformation matrices for different joints and linkages
The inverse kinamatics based on numerical approach
Function to be used by fmincon for numerical solution of joint variables
Gets the dimension, which are set by set_dimensions and plots it to output screen
set_dimensions sets the value of position matrices of different joints
Jacobian formulation for trajectory tracing
Jacobian formulation for Inverse Kinematics
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
System Requirements:MATLAB 7.5 (R2007b)
Program Release Status: New Release
Program Install Support: Install and Uninstall