Robotics-Mechanics

Accompaning code for the video series Programming Robot Mechanics.

Video and Code

Part-0 Introduction

Part-1 Setting Up Environment

Part-2 Rigid Body Transformations Code

Part-3 Testing and Visualization Code

Part-4 Robot Link Class Code

Part-5 Unit Test Link Code

Part-6 Robot Class Code

Part-7 Unit Testing Robot Class Code

Part-8 Visualizing Robot Frames Code

Part-9 Newton Method Optimizer Code

Part-10 Extending Newton Method Code

Part-11 Numerical Inverse Kinematics Code

Part-12 Jacobian of Robot Code

Part-13 Readme and Unit Tests Code

Part-14 Cubic Trajectory Planning Code

Part-15 Quintic Trajectory Planning Code

Part-16 Linear Trajectory Planning Code

Part-17 Cubic Spline Interpolation Code

Part-18 Linear Spline Interpolation Code

Part-19 Joint Space Trajectory Planning Code