Screw Theory-Based Manipulator Analysis Code Featuring Forward Kinematics, Manipulability Analysis, and Inverse Kinematics

Associated with ME 397 Algorithms for Sensor-Based Robotics at UT Austin

The examples shown here are for a Franka-Emika Panda robot, though the code is easily generalizable to any robot by adding the relevant parameters to instaniate_robot.m.

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Screw-Based Forward Kinematics

Zero and ready configurations of the robot using space frame FK:

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Manipulability Measures

Manipulability ellispoids at zero and ready configurations:

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Jacobian Pseudo-Inverse Inverse Kinematics

Algorithm performance:

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Jacobian Transpose Inverse Kinematics

Algorithm performance:

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Redundancy Resolution Inverse Kinematics

Algorithm performance:

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Damped Least-Squares Inverse Kinematics

Algorithm performance:

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Performance Comparison

Performance of Jacobian, Tranpose, Redundancy Resolution, and Damped Least-Squares algorithms compared:

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