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Weighted Kinematic Control of PPRR Manipulator 1.0

  Date Added: May 27, 2013  |  Visits: 164

Weighted Kinematic Control of PPRR Manipulator

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A PPRR( 2 Prismatic 2 Revolute) serial manipulator is modeled and kinematic level control is provided to trace a rotated ellipse. Redundancy is removed by providing weights for the Prismatic and Revolute joints.Control is applied using a 4th order Runge Kutta by providing weights for the position and orientation of the manipulator. An adaptation of an earlier file submitted by Adam Fosbury.A GUI is developed to easily change ellipse and manipulator parameters.This file was created as a Final Project of MAE593 (Math. Methods in Robotics) under the supervision of Dr. Venkat Krovi at SUNY Buffalo.

Requirements: No special requirements
Platforms: Matlab
Keyword: Adaptation Change Developed Earlier Easily Fosbury Orientation Parameters Position Submitted
Users rating: 0/10

License: Shareware Size: 30.72 KB
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