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RPDC : This contains all my MATLAB codes for the Robotics, Planning, Dynamics and Control . The implementations model various kinds of manipulators and mobile robots for position control, trajectory planning and path planning problems.
Calculation of forward and inverse kinematics, Jacobian matrices, dynamic modeling, trajectory planning and geometric calibration for robotic manipulators
In this repository, the implementation of forward and inverse kinematics by redundancy resolution is presented for KUKA on linear axis 7-DOF robot. The Redundancy Resolution includes three methods, which are Jacobian-based (Damped Least Square and Weighted Pseudoinverse), Null Space, and Task Augmentation.