SCORBOT-kinematics

Forward/inverse kinematics computation for a SCORBOT robot.

🇮🇹 Files originali in italiano nella cartella "it" - Original files, written in italian, are into the "it" subfolder.

What is it

This repository consists of two simple Mathematica notebooks I wrote and used in practical activities while following the "Automazione e Robotica con Laboratorio" (12 CFU) course, held at Faculty of Engineering, University of Rome Tor Vergata.

These two files can be used to compute forward and inverse (backward) kinematics of a SCORBOT robot, as follows:

• SCORBOT_forward.nb: given the fixed physical parameters of the robot and its joint variables, compute the position of the end-effector (cartesian coordinates);
• SCORBOT_inverse.nb: given the fixed physical parameters of the robot, the desired cartesian coordinates for the end-effector, the roll angle and the pitch angle, compute the joint variables to obtain the desired coordinates/angles.

File	Input	Output
SCORBOT_forward.nb	Fixed Physical parameters Joint variables	Position of the end-effector (cartesian coordinates)
SCORBOT_inverse.nb	Fixed Physical parameters Desired cartesian coordinates for the end-effector Desired Roll angle Desired Pitch angle	Joint variables

How to use

Download the repository and open the files with Wolfram Mathematica. Further instruction on how to use them are written into the files themselves.

Contribute!

Feel free to open an Issue for any kind of fix/improvement/reporting/suggestion/etc.

Platforms

Tested on:

• Wolfram Mathematica 12.0.0.0 for Linux x86 on Debian GNU/Linux 9 (stretch).
• ... add yours!

Author

Massimo Stanzione
http://github.com/massimostanzione

Miscellaneous

Some fun with SCORBOT at University of Rome Tor Vergata:

• SCORBOT making moka
• Netturbot
• Hanoi tower