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Weighted Kinematic Control of PPRR Manipulator 1.0
File ID: 81441






Weighted Kinematic Control of PPRR Manipulator 1.0
Download Weighted Kinematic Control of PPRR Manipulator 1.0http://www.mathworks.comReport Error Link
License: Shareware
File Size: 30.7 KB
Downloads: 17
User Rating:5 Stars  (1 rating)
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Weighted Kinematic Control of PPRR Manipulator 1.0 Description
Description: 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 order Runge Kutta by providing weights for the position and orientation of the manipulator. An adaptation of an earlier file submitted by Adam Fosbury.
A GUI is developed to easily change ellipse and manipulator parameters.
This file was created as a Final Project of MAE593 (Math. Methods in Robotics) under the supervision of Dr. Venkat Krovi at SUNY Buffalo.

License: Shareware

Related: developed, Easily, Change, parameters, fosbury, submitted, Position, Orientation, Adaptation, earlier

O/S:BSD, Linux, Solaris, Mac OS X

File Size: 30.7 KB

Downloads: 17



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