This repository includes MATLAB codes for robotic path planning of a PUMA robot using Robotics Toolbox by Peter Corke Link. The purpose of this code was purely for academic coursework, and may not represent the complexity of real-world situations. The coursework context assumes that the programmer is performing path planning for PUMA robot to perform beating heart surgery.
Used software:
- MATLAB 2016b
- Robotics Toolbox v10
- Images captured using MATLAB 2018b.
Pre-Requisites trajectory_data.mat is provided prior to any programming.
Build a PUMA robot and move the end-effector to follow a linear trajectory along a sphere.
Ensure that the end-effector is always perpendicular to the sphere surface.
Repeat steps 1 and 2 keeping a constant velocity of the end-effector of 0.1m/s for a time-varying trajectory due to the sphere changing its size (is beating!)
