🤖 A motion planning MATLAB & V-rep implementation for the KUKA LBR iiwa robotic arm, performing null-space reconfiguration for obstacle avoidance.

In this repository, the implementation of forward and inverse kinematics by redundancy resolution is presented for KUKA on linear axis 7-DOF robot. The Redundancy Resolution includes three methods, which are Jacobian-based (Damped Least Square and Weighted Pseudoinverse), Null Space, and Task Augmentation.

This is a project based on PID control of an industrial manipulator: Kuka KR-16. The complete manipulator assembly is modelled in Solidworks. The CAD model is used in Simechanics environment in MatLab/Simulink with PID controllers for motion control.

Model and simulation of Kuka KR3 R540 robot using MATLAB.

kinematics, newton-euler dynamics and centralized/decentralized control of a KUKA robotic gripper -- up next safe reinforcement learning with optimistic exploration instead of trajectory planning. 2019

KUKA YouBot navigation using PRM algorithm on MATLAB - CoppeliaSim

Stiffness modelling of 7DOF KUKA linear axis manipulator using VJM to improve the overall accuracy by calculating the deflection due to the applied load.

Control KUKA manipulator with 7DoF