adv_robotics_homework

Advanced robotics homework solutions in matlab (2014).

## Solutions include

• Forward kinematics, inverse kinematics, forward dynamics (with the Newton-Euler algorithm).

Naming conventions follow Siciliano's book (http://www.springer.com/us/book/9783540382195).

Dependencies:

• Peter Corke's Robotics Toolbox

To run the solutions setup Peter Corke's Robotics Toolbox following the instructions in http://petercorke.com/wordpress/toolboxes/robotics-toolbox/.

Running the code

Initial testing examples are provided, with full details provided in the report. For testing inverse kinematics one can run:

Testing forward kinematics demo

Tests forward kinematics comparing with builtin forward kinematics implemented in the Robotics Toolbox

test_fk

Testing inverse kinematics demo

Tests ik by finding corresponding joint angles to take the robot to a given end-effector position and orientation. (call without args will use default parameters)

test_ik

Testing forward dynamics with the Newton-Euler algorithm

1. Simulate a pendulum

simulate_pendulum

1. Simulate a 3-link arm under the effect of gravity

fdyn_ne(3)

1. Simulate a N-link arm under the effect of gravity

fdyn_ne(N)