prakharg01/manipulator-kinematics

The Forward and Inverse kinematics for 3DOF robotic arms (planar and 3d) in MATLAB

Kinematics-3DOF-Robotic-Arm-Matlab

This repository provides an implementation of Forward Kinematics (FK) and Inverse Kinematics (IK) for a 3DOF spatial manipulator using both numerical and analytical methods. The kinematics are implemented in both VREP (CoppeliaSim) and MATLAB.

Overview

The purpose of this project is to calculate the FK and IK for a 3DOF robotic arm. The following MATLAB scripts are included:

• FK3DOF: Calculates the forward kinematics for a 3DOF planar arm.
• FK3DOFElbow: Calculates the forward kinematics for a 3DOF (3D) arm.
• IK3DOF: Calculates the inverse kinematics for a 3DOF planar arm.
• IK3DOFElbow: Calculates the inverse kinematics for a 3DOF (3D) arm.
• IK3DOFPATHFOLLOWING: Calculates the inverse kinematics for a 3DOF planar arm using the numerical Newton-Raphson method and the inverse pseudo Jacobian.
• DH.M: A function to compute the Denavit-Hartenberg (DH) parameters.

The intermediate steps of the Newton-Raphson algorithm can be visualized in VREP (CoppeliaSim) using the provided scene file 3rikv2.0.ttt.

Usage

To use the implementation, follow these steps:

1. Run the IK3DOFPATHFOLLOWING.m script, which will generate path.csv and data.csv.
2. Load the path.csv file in VREP (CoppeliaSim).
3. Simulate the scene using the 3rikv2.0.ttt file.

Make sure to have VREP (CoppeliaSim) installed and properly configured for the simulation.

Repository Contents

The repository contains the following files:

• FK3DOF.m: MATLAB script for the forward kinematics of a 3DOF planar arm.
• FK3DOFElbow.m: MATLAB script for the forward kinematics of a 3DOF (3D) arm.
• IK3DOF.m: MATLAB script for the inverse kinematics of a 3DOF planar arm.
• IK3DOFElbow.m: MATLAB script for the inverse kinematics of a 3DOF (3D) arm.
• IK3DOFPATHFOLLOWING.m: MATLAB script for the inverse kinematics of a 3DOF planar arm using the numerical Newton-Raphson method and the inverse pseudo Jacobian.
• DH.m: MATLAB function to compute the DH parameters.
• 3rikv2.0.ttt: VREP (CoppeliaSim) scene file for visualizing the intermediate steps of the Newton-Raphson algorithm.

License

The code in this repository is licensed under the MIT License.

Acknowledgements

The implementation of the Forward and Inverse Kinematics for the 3DOF robotic arm in MATLAB and VREP (CoppeliaSim) was developed by Prakhar Goel. If you have any questions or suggestions, feel free to reach out.