Weighted Kinematic Control of PPRR Manipulator (Scripts) Publisher's description
from Hrishi Shah
A PPRR( 2 Prismatic 2 Revolute) serial manipulator is modeled and kinematic level control is provided to trace a rotated ellipse
A PPRR( 2 Prismatic 2 Revolute) serial manipulator is modeled and kinematic level control is provided to trace a rotated ellipse. Redundancy is removed by providing weights for the Prismatic and Revolute joints.
Control is applied using a 4th order Runge Kutta by providing weights for the position and orientation of the manipulator. An adaptation of an earlier file submitted by Adam Fosbury.
A GUI is developed to easily change ellipse and manipulator parameters.
This file was created as a Final Project of MAE593 (Math. Methods in Robotics) under the supervision of Dr. Venkat Krovi at SUNY Buffalo.
System Requirements:MATLAB 7.6 (R2008a)
Program Release Status: New Release
Program Install Support: Install and Uninstall