Mathematics

• 3R Planar Serial Robot
  • Mathematics involved
    • Connecting paths:
• 4R-4P Serial-Parallel Hybrid Robot
  • Mathematics involved
    • Connecting paths:
• RSSR-SSR Spatial Parallel Robot
  • Mathematics involved
    • Connecting paths:
  • References

Code

• 3R Planar Serial Robot
  • Figure
  • Usage
    • Jacobian for planar manipulators
      • Sample computation of Jacobian for the configuration corresponding to the parameters shown below:
• 4R-4P Serial-Parallel Hybrid Robot
  • Figure
  • Usage
    • Jacobian for planar manipulators
      • Sample computation of Jacobian for the configuration corresponding to the parameters shown below:
      • Accessing each matrix individually:
    • Some other attributes
      • Independent paths pertaining to linear and angular velocities:
• RSSR-SSR Spatial Parallel Robot
  • Figure
  • Usage
    • Jacobian for planar manipulators
      • Sample computation of Jacobian for the configuration corresponding to the parameters shown below:
      • Accessing each matrix individually:
    • Some other attributes
      • Independent paths pertaining to linear and angular velocities:
      • Superfluous DOF information:
  • References