https://github.com/hlfshell/rbe500
WPI RBE 500 2021
https://github.com/hlfshell/rbe500
Last synced: about 1 year ago
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WPI RBE 500 2021
- Host: GitHub
- URL: https://github.com/hlfshell/rbe500
- Owner: hlfshell
- Created: 2021-03-06T20:06:57.000Z (over 5 years ago)
- Default Branch: main
- Last Pushed: 2022-05-07T19:50:37.000Z (about 4 years ago)
- Last Synced: 2025-02-09T17:14:49.528Z (over 1 year ago)
- Language: MATLAB
- Size: 52.6 MB
- Stars: 2
- Watchers: 2
- Forks: 0
- Open Issues: 0
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Metadata Files:
- Readme: README.md
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README
# RBE 500
This is the code repository for my assignments and work within the WPI graduate course of RBE 500 - Foundation of Robotics. The course primarily focused on kinematics with a significant focus on robotic arms. These assignments were mandated to be done as MATLAB LiveScripts (`mlx`) and written as academic papers. Since the `mlx` format is binary and not easy readable, I have PDF exports of each assignment (though it lacks the interactive and animated elements as a result). I tried to capture some GIFs of the work in action as well.
All visualizations were hand coded, though the [gif](https://www.mathworks.com/matlabcentral/fileexchange/63239-gif) function was utilized to create the gif outputs.
## Assignment 1
Assignment 1 was merely an introduction to MATLAB and a warm-up assignment.
## Assignment 2
Assignment 2 was an introduction to rotation and transformation frames utilizing a Denso HSR arm (a popular pick and place RRR arm).
## Assignment 3
A deeper dive into transforms and frames, as well as an exploration of applying it to various robotic arm designs.
## Assignment 4
In this assignment we explore utilizing the DH Table convention to design the transform matricies for working with real robotic arms.
## Assignment 5
Assignment 5 introduced inverse kinematics - we explored first trigonmetry to manually create functions to determine a robot's position, and explore the effects of singularities on these methods.
## Assignment 6
In this assignment we explored calculating joint velocities utilizing the Jacobian.
## Assignmeny 7
We utilize the Mechademic 6 axis robotic arm to further explore the Jacobian and utilize it to identify the nature, identification, and effects of singularities on robotic arms.
## Assignment 9
In assignment 9 we explored configuration and task space, collision detection, and created an *interacive demonstrations* for creating obstacles for a 2 link robotic arm (RR) and demonstrated collision detection and calculating the result collision, task spaces for a given work envelope.
## Assignment 10
In our final assignment, we explored the basics of path finding and explored RRT for a given floorplan.