The Full Story
RRR Manipulator
This is a short study on the RRR manipulator about its Forward Kinematics and Inverse Kinematics. Methods used to analyse the RRR manipulator: Monte Carlo method, Newton's recursive method and Gradient decent method.
Forward Kinematics
Firstly, the DH convention of the RRR manipulator can be described in the DH table. Additionally, the motions of the manipulator and the workspace are shown.
Velocity Kinematics
The Velocity Kinematics is deriving the Jacobian matrix based on Homogeneous Transformation.
Iterative Inverse Kinematics
This problem is about to solve for a given postion with Newton's Method and Gradient Decent Method, assuming that the current configuration is q=(0, 0, 0) and each link is in the same length.
Learning Inverse Kinematics
This time, write a simple Neural Network to solve the Inverse Kinematics problem given a trajectory of the end effector positions.
