This repository provides a Matlab implementation to calculate the forward kinematics of serial robotic manipulators using the Denavit-Hartenberg convention. It allows users to input DH parameters for any robot configuration and outputs the homogeneous transformation matrix representing the end-effector pose.
Mathematical Modeling of Robots Toolbox
Pick and Place using the PincherX100 arm.
MATLAB codes for Stewart Platform model and simulation
vizualizácia priamej kinematickej úlohy
This repository offers an exhaustive resource for the kinematic analysis of mechanical systems. It encompasses a comprehensive suite of tools and documentation for analyzing position, velocity, and acceleration of various mechanisms.
Controlling a nonholonomic robot to follow a trajectory with a modified PID Controller.
Analyzing passive dynamic walking behavior in the context of both falling and non-falling trials, simulating slipping and tripping scenarios.
This repository contains my final project for Mechanical and Aerospace Engineering 162A, Mechanisms and Mechanical Systems, taken with Prof. Jonathan Hopkins, Spring 2021
Kinematic and dynamic modelling of a cable-driven parallel robot used to control an inverted pendulum. Development of a controller to stabilise the pendulum in its vertical unstable position by means of linear quadratic regulators. Validation of the controller in simulation, so it can maintain the equilibrium position despite the appearance of u…
Kinematic and dynamic analysis of 6 bar linkage
Matlab scripts to compute the kinematics of a large number of robots w/ plots
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