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MAE 593 Project Presentation PRRR- SERIAL MANIPULATOR RRR-RPR-RRR -PARALELL MANIPULATOR By Nikhil Sapre Tejas Puntambekar
PRRR Serial Manipulator ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],P P R R R EE L1 d1 L3 L2 Theta1 Theta2 Theta3
Basic Features ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
GUI – Home Position
Forward Kinematics Xee=d1+L1*cos(theta1)+L2*cos(theta2)+L3*cos(theta3) Yee=L1*sin(theta1)+L2*sin(theta2)+L3*sin(theta3)
Manipulator Forward Kinematics
Inverse Kinematics ,[object Object],[object Object],[object Object],[object Object]
Manipulator Inverse Kinematics
Plot WorkSpace ,[object Object],[object Object],[object Object],[object Object]
Manipulator – Work Space
Trace Ellipse/Circle ,[object Object],[object Object]
Trajectory-Trace Ellipse
Trajectory-Trace Circle
Trace Curve ,[object Object],[object Object],[object Object],[object Object]
Trajectory-Trace Curve Curve in X direction
Trajectory-Trace Curve Curve in Y direction
Trajectory-Trace Curve Random Curve
Trajectory-Trace Curve Error Messages
Demo
RRR-RPR-RRR Parallel Manipulator ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],d1
Parallel Manipulator GUI
Forward Kinematics ,[object Object],[object Object],Forward Kinematics ,[object Object],[object Object]

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MAE 593 Final Project Presentation