https://github.com/massimostanzione/scorbot-kinematics
Forward/inverse kinematics computation for a SCORBOT robot.
https://github.com/massimostanzione/scorbot-kinematics
forward-kinematics inverse-kinematics kinematics mathematica scorbot
Last synced: 7 months ago
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Forward/inverse kinematics computation for a SCORBOT robot.
- Host: GitHub
- URL: https://github.com/massimostanzione/scorbot-kinematics
- Owner: massimostanzione
- Created: 2020-12-22T21:11:54.000Z (almost 5 years ago)
- Default Branch: main
- Last Pushed: 2020-12-28T19:08:17.000Z (almost 5 years ago)
- Last Synced: 2025-01-21T08:31:51.799Z (9 months ago)
- Topics: forward-kinematics, inverse-kinematics, kinematics, mathematica, scorbot
- Language: Mathematica
- Homepage:
- Size: 10.7 KB
- Stars: 2
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# SCORBOT-kinematics
Forward/inverse kinematics computation for a SCORBOT robot.
🇮🇹 _Files originali in **italiano** nella cartella ["it"](https://github.com/massimostanzione/SCORBOT-kinematics/tree/main/it) - Original files, written in italian, are into the ["it"](https://github.com/massimostanzione/SCORBOT-kinematics/tree/main/it) subfolder._
### What is it
This repository consists of two simple *Mathematica* notebooks I wrote and used in practical activities while following the "Automazione e Robotica con Laboratorio" (12 CFU) course, held at Faculty of Engineering, University of Rome Tor Vergata.
These two files can be used to compute [forward](https://en.wikipedia.org/wiki/Forward_kinematics "Forward Kinematics - Wikipedia") and [inverse (backward)](https://en.wikipedia.org/wiki/Inverse_kinematics "Inverse (backward) Kinematics - Wikipedia") kinematics of a SCORBOT robot, as follows:
- `SCORBOT_forward.nb`: given the fixed physical parameters of the robot and its joint variables, compute the position of the end-effector (cartesian coordinates);
- `SCORBOT_inverse.nb`: given the fixed physical parameters of the robot, the desired cartesian coordinates for the end-effector, the roll angle and the pitch angle, compute the joint variables to obtain the desired coordinates/angles.
| File | Input | Output |
| ------------ | ------------ | ------------ |
| `SCORBOT_forward.nb` |
- Fixed Physical parameters
- Joint variables
| `SCORBOT_inverse.nb` |
- Fixed Physical parameters
- Desired cartesian coordinates for the end-effector
- Desired Roll angle
- Desired Pitch angle
### How to use
Download the repository and open the files with Wolfram Mathematica. Further instruction on how to use them are written into the files themselves.
### Contribute!
Feel free to [open an Issue](https://github.com/massimostanzione/SCORBOT-kinematics/issues/new/choose "open an Issue") for any kind of fix/improvement/reporting/suggestion/etc.
### Platforms
Tested on:
- Wolfram Mathematica 12.0.0.0 for Linux x86 on Debian GNU/Linux 9 (stretch).
- ... add yours!
### Author
Massimo Stanzione
http://github.com/massimostanzione
### Miscellaneous
Some fun with SCORBOT at University of Rome Tor Vergata:
- [SCORBOT making moka](https://www.youtube.com/watch?v=qyYn6U0nG7g)
- [Netturbot](https://www.youtube.com/watch?v=M9mwUqvYef4)
- [Hanoi tower](https://www.youtube.com/watch?v=0VCJ6IQ05f8)