|Code Listing by Olawale Akinwale|
[a,b,c] = InverseKinematicsAM(x,y,z)
This function finds the joint configurations for the waist, shoulder and elbow of the RA-01 robotic arm made by Images SI, Inc. It takes in three inputs which are the specifications of the x, y and z positions of the centre of the gripper of the robotic arm. The inverse kinematics is computed and the joint configuration is output, where:
- a is the angular configuration of the waist;
- b is...
The m-file finds the elimination matrices (and scaling matrices) to reduce any A matrix to the identity matrix using the Gauss-Jordan elimination method without pivoting. Using the matrices gotten it computes the inverse of the A matrix.
This function finds the forward kinematics of the RA-01 Robotic Arm made by Images SI, Inc., New York. The RA-01 has five degrees of freedom. This function outputs two vectors. The first vector is the forward kinematics of the central position of...
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