https://github.com/fitushar/design-an-inverse-kinematic-controller-to-move-end-effector-

Design an inverse kinematic controller to move end-effector. This work is done as a coursework for the 2nd semester of MAIA in Introduction to Robotics course.
https://github.com/fitushar/design-an-inverse-kinematic-controller-to-move-end-effector-

coursework effector inverse-kinematic-controller maia orientation position redundancy robotics-course

Last synced: 21 days ago
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Design an inverse kinematic controller to move end-effector. This work is done as a coursework for the 2nd semester of MAIA in Introduction to Robotics course.

• Host: GitHub
• URL: https://github.com/fitushar/design-an-inverse-kinematic-controller-to-move-end-effector-
• Owner: fitushar
• Created: 2019-01-18T23:44:51.000Z (about 6 years ago)
• Default Branch: master
• Last Pushed: 2019-01-19T00:04:22.000Z (about 6 years ago)
• Last Synced: 2024-11-08T17:42:34.502Z (2 months ago)
• Topics: coursework, effector, inverse-kinematic-controller, maia, orientation, position, redundancy, robotics-course
• Language: MATLAB
• Homepage:
• Size: 5.92 MB
• Stars: 1
• Watchers: 1
• Forks: 2
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# Design-an-inverse-kinematic-controller-to-move-end-effector-

Design an inverse kinematic controller to move end-effector. This work is done as a coursework for the 2nd semester of MAIA in Introduction to Robotics course.

# Design an inverse kinematic controller to move end-effector. This work is done as a coursework for the 2nd semester of MAIA in Introduction to Robotics course.

![Presentation Intro](https://github.com/fitushar/Design-an-inverse-kinematic-controller-to-move-end-effector-/blob/master/Images/Robotics_Presentation.png)

The task was to design an Inverse Kinematic controller to move the end-effector from the position

pA to the position pB The movement should be repeated 3 times

by control:

* the position-only without exploiting the redundancy

* the position and the orientation without exploiting the redundancy (desired orientation equal to the initial one)

* the position and the orientation avoiding an obstacle put in p0 (desired orientation equal to

the initial one)

# Code folder Contains the all the implemented code with the GUI.

![Presentation Intro](https://github.com/fitushar/Design-an-inverse-kinematic-controller-to-move-end-effector-/blob/master/Images/Inverse_kinamatics_Controller(%20Position%20Only).PNG)

![Presentation Intro](https://github.com/fitushar/Design-an-inverse-kinematic-controller-to-move-end-effector-/blob/master/Images/Inverse_kinamatics_Controller(%20Obstacle%20Avoidence).PNG)