Robot mockup : Manipulability Optimization of Planar Redundant Robot

V. Ramadoss

Description of the Model

A 3 DOF Planar robot is simulated with obstacle avoidance and manipulability optimization. It gives insights about manipulation problems for spatial redundant robots as well. Here the 3-DOF robot is tracing a circular trajectory. The whole problem is converted to numerical optimization problem and run using fmincon from MATLAB.

manipulabilityredundant.mp4

Acknowledgements

• I would like to acknowledge the article titled "A_constraints-based_method_of_the_inverse_kinematics_for_redundant_manipulators" by Y.W Sung et al.

Maintainer

This repository is maintained by:

	Vishal Ramadoss