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|Code Listing by Hrishi Shah|
This file was created by using Maple to come up with the symbolic equations and then copying them to MATLAB. Some basic checks are put in place to detect if the spheres don't intersect at all.
Two methods are provided -
1) an automatic updation method which can be effectively used outside of a loop since it writes out a newton-raphson computation file from the parameters received.
2) a manual file generation method; effective...
A Two Link Manipulator is a standard problem. We have tried to model it with 4 parameters making two parameters redundant. We have resolved this redundancy and controlled it with three methods:
1) Projection to Feasible Motion Space
Just click and drag while seeing the final shape and lift the mouse button when its fine! Check readme.txt for detailed instructions.
The Hexapod is a 6DOF 3D parallel platform Manipulator. In a course on articulated systems, we simplify it to a 3PRR by taking the top view projection and control the same using techniques taught in the course. We have explained that in the...
I have updated this submission with new features and a GUI.
A 4RRR Parallel Manipulator is modeled kinematically and controlled to trace a rotated ellipse. All parameters are...
The wheeled mobile robot dynamics are studied from standard papers available on the topic and non-linear feedback linearlization is done to reduce the equations of motion to a second order dynamic equation of the error of position of the wheeled...
A PPRR( 2 Prismatic 2 Revolute) serial manipulator is modeled and kinematic level control is provided to trace a rotated ellipse. Redundancy is removed by providing weights for the Prismatic and Revolute joints.
Control is applied using a 4th...
The standard problem of a Two Link Manipulator is developed both kinematically and dynamically. It is then controlled to trace a rotated ellipse. The non-linear terms (like gravity/inertia etc.) are exclusively canceled out in varying degrees and...
In addition to my earlier submission - 4RRR Kinematics, I have added multiple solutions for links and also a GUI that allows for changing virtually every parameter used in the simulation.
Mouse Based Tracking is also incorporated along with.
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