V. Ramadoss
A 3 DOF Planar robot is simulated with obstacle avoidance and manipulability optimization. It gives insights about manipulation problems for spatial redundant robots as well. Here the 3-DOF robot is tracing a circular trajectory. The whole problem is converted to numerical optimization problem and run using fmincon from MATLAB.
manipulabilityredundant.mp4
- I would like to acknowledge the article titled "A_constraints-based_method_of_the_inverse_kinematics_for_redundant_manipulators" by Y.W Sung et al.
This repository is maintained by:
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Vishal Ramadoss |