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for.hw

Fundamentals of Robotics homeworks repository.

Assignments

Assignment 1 - Spherical Wrist Manipulator ZXZYX

5 DOF manipulator with spherical wrist at the end. Two prismatic and three revolute joints.

Assignment 2 - Robot Jacobian & Nullspace

An example of a nullspace solution for linear velocities of the end-effector. While the whole mechanism moves, end-effector stays linearly motion-less.

Assignment 3 - Trajectory Planning

An example of linearized PD-control technique to perform a trajectory planning and execution according to a given desired values of generalized coordinates.

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Fundamentals of Robotics homework repository

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