liguanhao-dr's starred repositories
5DOF-robotic-arm-path-planning
The inverse kinematics for a 5DOF robotic arm or 6DOF when zy-orientation of the flange doesn't matter. Added gaussian white noise signal and gaussian acceleration-dependent error spikes to model the issues faced by robotic interfaces with limited computational/joint precision levels. Any advice is welcome. Uses a 'connected spheres' view of joints to avoid having to solve with Newton-Raphsson.
opensim-ik-errors
Calculate errors for each marker when doing inverse kinematics in OpenSim
link_manipulator_neural_network
In ‘A study of neural network based inverse kinematics solution for three-joint robot’ (Köker 2014), the authors propose using backpropagation to retrieve the inverse kinematics for a three-joint robot. They state that the advantage is that the artificial neural network uses shorter calculations (in comparison to inverse kinematic solutions which is time consuming) and therefore less computation power. In this section, a similar network is implemented in MATLAB to minimize the error between the target and predicted angles for joints q2, q3 and q4. Adapted from this paper (Köker 2014), the following neural network has been implemented
Modified-Inverse-Kinematics-Function-for-UR5-Robot-Coursera-
A Modified Matlab Function to calculate the Inverse Kinematics of UR5 Robot. The function calculates the required joint angles for UR5 Robot to reach a certain configuration. It utilizes Newton-Raphson Root Finding Algorithm to compute the result. The function reports the calculated joint angles, the Forward Kinematics for the particular joint angles and the error in each iteration. The function finally creates a .csv file which contains the calculated joint angles in each iteration. The .csv file can be used to inspect the Robot's motion in a Simulation software. The project is executed as the Peer Graded Assignment of the Modern Robotics, Course 2: Robot Kinematics by Northwestern Universtity, part of Coursera's Modern Robotics: Mechanics, Planning, and Control Specialization.
coupledModel-NiTi-SMA
Implementation of a thermo-mechanically coupled model for NiTi shape memory alloys under force or displacement control
holonomic-robot
Files of a holonomic robot prototype and a digital twin simulation.
Digital-Twin-for-Mobile-Articulated-Gripper-Robot-SL2023
This is the repository for the Software Lab project in 2023
VVCM_ForwardKinematics
This MatlabApp is designed by MATLAB 2022b. It demonstrates the Forward Kinematics of Multi-Robot System with a Deformable Sheet, which is based on the Virtual Variable Cables Model (VVCM).
TTK4551_Modelling_controller_design_and_simulation_of_cable_drive_robot
Modelling, controller design and simulation of cable drive robot
Kinematic-performance-based-path-planning-for-cable-driven-parallel-robots-using-modified-
For paper：Kinematic performance-based path planning for cable-driven parallel robots using modified adaptive RRT*。
ContinuumRobot
The data and codes used for the paper.
Continuum-state-estimation
Sensor based state estimation of Continuum robots
Cosserat-Rod-Modeling-of-Continuum-Concentric-PushPull-Robots
This code is associated to the paper Tummers et al., “Continuum concentric push-pull robots: a Cosserat rod model,” IEEE International Journal of Robotics Research to model continuum concentric push-pull robots based on Cosserat rod theory.
soft-continuum-robot-modelling
Functions to simulate the statics of a soft continuum robot (pneumatic) including mechanical contact
continuum---soft-robot
soft robot for robot control - university project
Nonlinear_Model_Predictive_Control_for_Continuum_Robots
Simulation and implementation of a Nonlinear Model Predictive Growth Control for Soft Growth Robots
continuum_robot_matlab
一个用matlab来实现连续体机器人正逆运动学、动力学以及其他算法的仓库
Modelling-a-continuum-robot
A dynamic model that calculates the position of a tendon driven continuum robot for use in minimal invasive surgery. Uses a semi-discretisation scheme to implicitly discretise in time and then solves the resulting ODEs.
Continuum_Robot_Dexterity
Liao Wu, Ross Crawford, Jonathan Roberts. Dexterity analysis of three 6-DOF continuum robots combining concentric tube mechanisms and cable driven mechanisms. IEEE Robotics and Automation Letters. 2017, 2(2): 514-521.
continuum-control
soft robot for robot control - university project
continuum-kinematics
soft continuum robot inverse kinematic algorithm
Cosserat-Rod-Modeling-of-Tendon-Actuated-Continuum-Robots
This code is associated to the paper Tummers et al., “Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives,” IEEE T-RO. (DOI 10.1109/TRO.2023.3238171) to model tendon actuated continuum robots through both the Newtonian and Lagrangian approaches. Compared to the literature, both approaches are extended with novelties
2D-and-3D-Constant-Curvature-Kinematics
2D and 3D Kinematic Modeling of Constant Curvature Continuum Robots
Continuum-Robot-Kinematics
My experiments with Continuum Robot Kinematics are documented here. Test functions and functions that incorporate various methods for continuum robot kinematics will be contained (hopefully in different folders) in this project.
SMA_Continuum_model
Kinetics model for Shape Memory Alloy wire based continuum robots