urdf

A MATLAB toolkit for programmatically creating, modifying, and managing URDF (Unified Robot Description Format) files

Robot's Limb MATLAB/Simulink Modeling and Control. URDF to DH conversion. Manipulability analysis

This repository documents my mobile manipulator simulation work, starting as a semester study project and evolving into my own senior-level system design and implementation.

Provide MATLAB code for state observer design and estimation, covering Luenberger observers, Kalman filters, and robust multi-rate methods.

MATLAB / Simscape Multibody tooling for Phil, the AI drummer robot: replay logged motion on a physical model, plot motor tracking, OBB/SAT arm-stick collision check.

A complete simulation framework for the KUKA youBot mobile manipulator, featuring an omnidirectional mecanum base, 5-DOF arm, observer-based state feedback control, and multi-environment integration using ROS Noetic, MATLAB, and CoppeliaSim.

RAS 545 Assignment 2 · Forward & Inverse Kinematics + Workspace Analysis of Dobot Magician Lite in MATLAB · ASU Fall 2025

End-to-end 4-DOF service manipulator project: kinematics, simulation, and hardware execution.