The "GenerateManipWorkspace.m" file generates a three-dimensional workspace graphical representation of any n-DOF serial robotic manipulator by taking a DH-Table as an input.
This code computes the transformation matrix of the end effector with respect to its base as well as the Jacobian matrix.
Two plots are generated:
- Point cloud
- Workspace boundaries.
An example of 3-DOF RPP Manipulator is included for demonstration purposes: