Introduction - 1
Transformations - 2
Inverse kinematics I - 4
- Updated the solution for the analytic approach for \(d^*_3\)
Inverse kinematics II - 5
- Algebraic solution for cylindrical and two linked revolute manipulator
Velocity Kinematics - 7
- Updated some of the slides and published the matlab codes
- Python code has been uploaded, the determinant for the code is unfinished for the time-being.
(Forward-kinematics, Inverse-kinematics and Jacobian is solved. )
Dynamics I - 9
- Uploaded matlab code for 3 -DOF Spherical manipulator and 2-Link Planar Robotic Manipulator
-Update 14.04.2021: Added missing parenthesis around velocity and angular terms in K_1 and K_2.
Dynamics II - 10
Update 16.04.2021: The C(q,q_dot)-matrix has been updated to the correct symbolic expressions.
Control Theory - 11
Control Theory II - 12
Extra curricular stuff - 13
Update 28.05.2021: Removed Crustcrawler_manipulator.py and the mandatory assignment 3-solution from the slides.