A C++ Console App for Robot Manipulators' kinematic parameters analysis. Includes Forward Kinematics, Homogenous Transformation Matrix, Inverse Kinematics, and Jacobian Matrix computation.
Calculates Forward Kinematics of a Robot Manipulator with an arbitrary configuration (user-input number of degrees of freedom, joint types and values, and link lengths). Forward kinematics calculates the position and orientation of the end-effector for given joint values. Degrees of freedom, joint types and values, and link lengths are user-input through the console.
Calculates a Homogenous Transformation Matrix of a Robot Manipulator with an arbitrary configuration (user-input number of degrees of freedom, joint types and values, and link lengths). A homogenous transformation matrix describes the position and orientation of the end-effector with respect to the reference coordinate frame. Degrees of freedom, joint types and values, and link lengths are user-input through the console.
Calculates Inverse Kinematics of a 3-DOF or a 6-DOF Robot Manipulator with all revolute joints. Inverse kinematics calculates the joint values (theta) necessary to achieve the set end-effector position and orientation. Robot Manipulator's configuration parameters and the desired end-effector position and orientation are set within the program itself. Make sure to use physically possible and reachable end-effector's position and orientation in order to successfully calculate inverse kinematics.
Calculates the Jacobian Matrix for a 6-DOF Robot Manipulator configuration. The Jacobian matrix relates the velocity of the end-effector to joint velocities. Robot Manipulator's configuration parameters and the desired end-effector position and orientation are set within the program itself.
