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6DOF-Robot-Trajectory-Planning

In this repository, trajectory planning for a 6DOF manipulator is implemented. Synchronization and numerical control are applied. In addition, propagated error in end-effector position is calculated. Finally, polynomial trajectory and trajectory junction are solved. The repository is also a solution for Assignment3 in Dynamics of Nonlinear Robotics Systems course for ROCV master's program at Innopolis University.

Task:

  1. Calculate and plot position, velocity, and acceleration trajectories of driving your robot model from configuration q0 to configuration qf in joint space.
  2. Synchronize your 6 joints to start and end motion at the same time.
  3. Redefine synchronized trajectories for numerical control
  4. Calculate propagated error in end-effector position.
  5. Drive your robot model between 3 consequent points. (solve polynomial)
  6. Perform trajectory junction.

Table of Content

├── src                            <- directory for source files 
|    ├── main.m                    <- contains MATLAB code main script (to be run)
|    ├── Trajectory.m              <- contains concept for single joint trajectory (position-velocity-acceleration)
|    ├── TrajectoryTimePlanning.m  <- contains trajectory function to be called for each joint
|    ├── NumericalTrajectory.m     <- contains numerical control function
|    ├── FK.m                      <- contains forward kinematics function to get end-effector position
|    ├── Polynomial.m              <- contains polynomial solution function
|
├── Report.pdf 
└── Readme.md