/six-degree-of-freedom-serial-manipulator

Implementation of kinematics analysis (both direct as well as inverse) and trajectory planning (task and joint space) for a six DoF anthropomorphic arm with a spherical wrist.

Primary LanguageMATLABMIT LicenseMIT

six-degree-of-freedom-serial-manipulator

Implementation of kinematics analysis (both direct as well as inverse) and trajectory planning (task and joint space) for a six DoF anthropomorphic arm with a spherical wrist.

Usage

  1. Clone this repository
git clone git@github.com:ahmed-yesuf/six-degree-of-freedom-serial-manipulator.git
  1. Execute: performPickAndPlace.m - you can also modify the content of this file to try different pick and place positions.

Simulation result

sample result