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6DOF-Robot-Trajectory-Planning
Walid-khaled/6DOF-Robot-Trajectory-Planning
MATLAB
In this repository, trajectory planning for a 6DOF manipulator is implemented. Synchronization and numerical control are applied. In addition, propagated error in end-effector position is calculated. Finally, polynomial trajectory and trajectory junction are solved. The repository is also a solution for Assignment3 in Dynamics of Nonlinear Robotics Systems course for ROCV master's program at Innopolis University.
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Stepper-Motors-Synchronization-for-Assistive-Robot-Control
Walid-khaled/Stepper-Motors-Synchronization-for-Assistive-Robot-Control
C++
In this repository, steppers motors are synchronized to control 6DOF manipulator for assistive robot applications. In addition, MATLAB-Arduino communication is set in order to send the kinematics solution to the robot. Moreover, special functions are implemented such as joints calibration, homing, and end position.
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