SIMULATION AND TRAJECTORY PLAN OF A 5 DOFs ROBOT ARM

  • Forward Kinematics

  • Coordinate Frame Sketch

fk0.jpg
  • Comparison between Simulation and Actual Robot 

FK1.jpg
  • Workspace

workspace.png
  • Inverse Kinematics

ik1 (2).jpg
ik2.jpg
ik3.jpg
  • Improved RRT Path Planning

  • Algorthim

rrt.jpg
  • Constrain Grow Rate

a1.jpg
  • Erase Unnecessary Waypoints

a2.jpg
  • Simulation Video

  • Potential Field Motion Planning