A comprehensive MATLAB simulation environment for a 6-Degree-of-Freedom robotic arm covering forward/inverse kinematics and dynamics.

Project Overview

Developed in MATLAB, this project established a comprehensive kinematic and dynamic simulation environment for a 6-Degree-of-Freedom robotic arm.

Technical Details

I implemented both forward kinematics (mapping joint angles to end-effector position) and inverse kinematics (calculating required joint angles for a desired spatial pose) with robust error handling for out-of-workspace coordinates.

The system was extended to include inverse dynamics using the Jacobian matrix, allowing for the calculation of necessary joint torques based on external wrenches applied to the end-effector. Additionally, the software calculated and rendered the robot’s complete 3D spatial workspace and included a custom path-planning module to generate optimized motion profiles based on minimal time or torque criteria.