6-dof Robot Manipulator
6-dof Robot Manipulator
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The Project objective is to understand the robot kinematics using D-H parameter or PoE formula and PID control in MATLAB simulation.
The Project objective is to understand the robot kinematics using D-H parameter or PoE formula and PID control in MATLAB simulation.
This project is implemented in the course MEN461 Introduction to Robotics. (Course Grade: A+)
This project is implemented in the course MEN461 Introduction to Robotics. (Course Grade: A+)
Using D-H parameter
Using PoE (Product of Exponential) formula
Check the forward kinematics using both D-H parameter and PoE formula.
Check the forward kinematics using both D-H parameter and PoE formula.
Algorithm for 6-dof robot arm
I implemented the 6-dof robot arm in MATLAB simulation as following the algorithm. Using PID controller and inverse jacobian to solve the inverse kinematics.
I implemented the 6-dof robot arm in MATLAB simulation as following the algorithm. Using PID controller and inverse jacobian to solve the inverse kinematics.
If you want to get my report, then please refer the google drive URL.
If you want to get my report, then please refer the google drive URL.
Report: https://drive.google.com/file/d/1km6EXsTfPyTqefShjITHPX7fgY5WhlCL/view?usp=sharing
KAIST
291, Daehak-ro, Yuseong-gu, Daejeon, Republic of Korea
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