Simple Robot Manipulator

The pdf attached below may take a few seconds to load.

Here is a project report that was done for a robotic kinematic course. It consist of designing and building a 6-DOF robotic arm that is capable of drawing. The report demonstrates how to calculate the complete work space of the manipulator (matlab code provided at the end of the document), and also the type of physics/mechanics that needs to be calculated when building simple robotic arms.