MATLAB CODE OF VELOCITY KINEMATICS OF SERIAL ROBOTS CARRYING A COMMON LOAD ON A MOBILE PLATFORM
Depending on the initial parameters, the code can be used for different scenarios
If only the parameters of a single serial robot is present then the code will calculate the joint variables for a single robot carrying a load on a mobile platform
If all mobile platform velocities are chosen as 0 then the joint variables will be calculated as if the robot is stationary
The current parameters within the code are arbitrary and they are present to be examples
I'm aware the code isn't optimized and could be improved on. So I'm open to suggestions and would be happy if you reach me with your ideas
The kinematic calculations are based on the following article:
Rodriguez, G., Jain, A., & Kreutz-Delgado, K. (1991). A Spatial Operator Algebra for Manipulator Modeling and Control. The International Journal of Robotics Research, 10(4), 371–381. https://doi.org/10.1177/027836499101000406