Robot Kinematics

During Robot Mechanics (3rd year robotics degree) I produced 2 reports detailing forward and inverse kinematics for both parallel and serial robot arms.

The first document outlines the methods used to derive both the forward kinematics and inverse kinematics for a 5Degrees Of Freedom Lynxmotion robot arm. From this we will then create a Matlab model of the arm. The model will allow us to perform tasks such as plotting the workspace and planning movement sequences. Finally results from the model will be tested on the robot.

This is the final result of the Inverse kinematics and path planing (it is limited alot by bad hardware)

The second document outlines the methods used to derive Inverse Kinematics (IK) for a 3 Degrees Of Freedom planar parallel robot. Using the derived IK we will create a Matlab model of the parallel robot. The model will allow us to plot and analyse the workspace

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