Kinematic analysis on a 4RPR manipulator.
Addresses:
- Forward and Inverse Kinematics
- Manipulability Measures (Yoshikawa and Isentropic)
- Task space visualization
- Open loop control
- Close loop Joint space and Task space control
The 4RPR manipulator is a parallel planar manipulator with 4 chains. Each chain consists of a revolute-prismatic-revolute joint order. The manipulator has a total of 3 degrees of freedom and thereby requires only 3 active joints to control.
An image of the manipulator is given below
Further information regarding the system can be found in 4rpr-paper.pdf.
The program and GUI are writting using MATLAB. The source code can be found
in src/
To run this you require MATLAB 2016a and above
Improve documentation, both in this README and in the code