Fundamentals of Robotics homeworks repository.
Assignment 1 - Spherical Wrist Manipulator ZXZYX
5 DOF manipulator with spherical wrist at the end. Two prismatic and three revolute joints.
Assignment 2 - Robot Jacobian & Nullspace
An example of a nullspace solution for linear velocities of the end-effector. While the whole mechanism moves, end-effector stays linearly motion-less.
Assignment 3 - Trajectory Planning
An example of linearized PD-control technique to perform a trajectory planning and execution according to a given desired values of generalized coordinates.