Screw Theory-Based Manipulator Analysis Code Featuring Forward Kinematics, Manipulability Analysis, and Inverse Kinematics
The examples shown here are for a Franka-Emika Panda robot, though the code is easily generalizable to any robot by adding the relevant parameters to instaniate_robot.m.
Zero and ready configurations of the robot using space frame FK:
Manipulability ellispoids at zero and ready configurations:
Algorithm performance:
Algorithm performance:
Algorithm performance:
Algorithm performance:
Performance of Jacobian, Tranpose, Redundancy Resolution, and Damped Least-Squares algorithms compared: