matlab资源 MATLAB中3DOF机械臂（平面和三维）的正运动学和逆运动学 仅供学习参考用代码.zip

# Kinematics-3DOF-Robotic-Arm-Matlab This repository provides an implementation of Forward Kinematics (FK) and Inverse Kinematics (IK) for a 3DOF spatial manipulator using both numerical and analytical methods. The kinematics are implemented in both VREP (CoppeliaSim) and MATLAB.  ## Overview The purpose of this project is to calculate the FK and IK for a 3DOF robotic arm. The following MATLAB scripts are included: - `FK3DOF`: Calculates the forward kinematics for a 3DOF planar arm. - `FK3DOFElbow`: Calculates the forward kinematics for a 3DOF (3D) arm. - `IK3DOF`: Calculates the inverse kinematics for a 3DOF planar arm. - `IK3DOFElbow`: Calculates the inverse kinematics for a 3DOF (3D) arm. - `IK3DOFPATHFOLLOWING`: Calculates the inverse kinematics for a 3DOF planar arm using the numerical Newton-Raphson method and the inverse pseudo Jacobian. - `DH.M`: A function to compute the Denavit-Hartenberg (DH) parameters. The intermediate steps of the Newton-Raphson algorithm can be visualized in VREP (CoppeliaSim) using the provided scene file `3rikv2.0.ttt`. ## Usage To use the implementation, follow these steps: 1. Run the `IK3DOFPATHFOLLOWING.m` script, which will generate `path.csv` and `data.csv`. 2. Load the `path.csv` file in VREP (CoppeliaSim). 3. Simulate the scene using the `3rikv2.0.ttt` file. Make sure to have VREP (CoppeliaSim) installed and properly configured for the simulation. ## Repository Contents The repository contains the following files: - `FK3DOF.m`: MATLAB script for the forward kinematics of a 3DOF planar arm. - `FK3DOFElbow.m`: MATLAB script for the forward kinematics of a 3DOF (3D) arm. - `IK3DOF.m`: MATLAB script for the inverse kinematics of a 3DOF planar arm. - `IK3DOFElbow.m`: MATLAB script for the inverse kinematics of a 3DOF (3D) arm. - `IK3DOFPATHFOLLOWING.m`: MATLAB script for the inverse kinematics of a 3DOF planar arm using the numerical Newton-Raphson method and the inverse pseudo Jacobian. - `DH.m`: MATLAB function to compute the DH parameters. - `3rikv2.0.ttt`: VREP (CoppeliaSim) scene file for visualizing the intermediate steps of the Newton-Raphson algorithm. ## License The code in this repository is licensed under the [MIT License](LICENSE). ## Acknowledgements The implementation of the Forward and Inverse Kinematics for the 3DOF robotic arm in MATLAB and VREP (CoppeliaSim) was developed by [Prakhar Goel]. If you have any questions or suggestions, feel free to reach out. [Prakhar Goel]: [https://www.linkedin.com/in/prakhar-goel-4616501a5/]