Examples


Forward kinematics (symbolic).

Mathematica example1.txt

Matlab version of above

Mathematica 3D version of above

Mathematica 3D with rotations in different directions Two shoulder DOF, 1 upper arm rotate, and 1 elbow.


Inverse kinematics (numerical)

Forward kinematics routine: fk1.m

Example of running it: example4.txt

Matlab documentation


Gravity compensation

Example 1