Kinematic simulation of robot from Denavit-Hartenberg configuration with Mathematica
The code description is in french. The report ("rapport_projet_robot_auto.pdf") is also in french.
"01_General.nb" file is like the main file of this program. It imports the function in "02_MatriceGeom.nb", "03_FormulesRobotAuto.nb" and "04_RobotAutoTotal.nb". They are like library.
"99_Robottest.nb" is an example of robot generation and what this program can do.
"99_HRP2.nb" and "99_HRP4.nb" are the generation example of HRP2 and HRP4 humanoid robot from Kawada industry and are example of complex humanoid robot generation.
TODO work:
Create a real library from imporetd functions
Optimize the robot generation for fast computation. With complex robot (HRP2 for example) it is very slow and memory consumming.