This repository contains all the Matlab codes for the study of the 3-RRR planar parallel manipulator.
The repository is organised as follows:
-
Kinematics contains the files relative to the kinematics study:
- inverse kinematics
- direct kinematics
- workspace approximation
- workspace analysis
-
Singularities contains the files relative to the singularity analysis:
- Jacobian determinant calculation
- Jacobian condition number calculation
- singularity loci analysis
-
Compliant Robot contains the files relative to the compliant version of the 3-RRR robot:
- compliant workspace from inverse kinematics-based method
- compliant workspace from geometry-based method
- workspace optimization based on singularity avoidance
- kinetostatics analysis