This project was the final project of my Advanced Robotics course. In this study, forward and inverse kinematic problem of a 5-DOF redundant manipulator was solved. After that by obtaining the Jacobian of the robot, its end effector was controlled using a game pad. Finally, a fast path planning algorithm was developed for this robot based on five-degree polynomials. Each part of this project has a dedicated graphic user interface in MATLAB software.

Inverse kinematics GUI

The complete report of this project is available at the link below:


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