Calculation of forward and inverse kinematics, Jacobian matrices, dynamic modeling, trajectory planning and geometric calibration for robotic manipulators

University group project concerning the comparison between the classical and the modified Denavit-Hartenberg convention in Newton-Euler algorithm, and the design of persistently exciting trajectories for the dynamic coefficients identification for the KUKA LWR IV+.

kinematics, newton-euler dynamics and centralized/decentralized control of a KUKA robotic gripper -- up next safe reinforcement learning with optimistic exploration instead of trajectory planning. 2019

NUS Advanced Robotics Projects2

Compact implementation of spatial algebra, and Featherstone's articulated-body algorithm (ABA) and the recursive Newton-Euler algorithm (RNEA) with end-to-end automatic differentiability (AD). Depends on STL, GLM and autodiff libraries.

Supplementary material for the paper "Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces", https://ieeexplore.ieee.org/document/9762293

🏐🦾This project simulates a Volleyball spike using the Recursive Newton-Euler algorithm in MATLAB and the simulation is provided in 2D Working Model software. A PID controller is added to make the motion of the arm more natural.

Second assignment of Robot Dynamics and Control, regarding the implementation of a recursive newton euler algorithm form the inverse dynamics problem using Matlab

Digital twin prototyping project, simulating a 3DOF robotic arm that can draw with a laser. Forward kinematics and inverse kinematics and dynamics are computed, along with performing cubic interpolation with constant acceleration to achieve accurate trajectories.

Robot Dynamics and Control course at the University of Genoa

14-DOF dual-arm humanoid robot dynamics in MATLAB — Recursive Newton-Euler algorithm, DLS inverse kinematics, mobile-base coupling & 3D animation. Fixed + mobile base. Lifting & bottle-opening tasks.

Dynamics simulation of an RPR manipulator with cylindrical links, calculating joint torques and forces.