Robotics 🤖

This repository contains code and resources related to two pivotal robotics books. Dive into the world of robotics through the expert lens of seasoned authors.

📚 Books

1. An Introduction to Robotics

• Authors: Prof. Hamid D. Taghirad & Mohammad A. Khosravi
• Copyright: ARAS @ 2023

A comprehensive introduction to the fascinating world of robotics, covering essential concepts and techniques.

2. Parallel Robots: Mechanics and Control

• Author: Prof. Hamid D. Taghirad
• Copyright: CRC Press, 2013
• DOI: 10.1201/b16096

A detailed exploration into the mechanics and control of parallel robots, unveiling complex dynamics and innovative control strategies.

🖥️ Code and Resources

Harness the power of these books with the following tools:

• - Open in MATLAB Online
• - Open in Google Colab

👨‍💻 Contributing

We welcome contributions! If you're interested in enhancing this repository:

1. Fork the repository.
2. Create a new branch (feature/your_feature or bugfix/your_bugfix).
3. Implement your changes.
4. Commit and push to your branch.
5. Submit a pull request.

🐛 Issues

Encountered an issue or have a question? Open an issue on our GitHub repository.

📜 License

This project is licensed under the MIT License - feel free to use and modify as per your needs.

🌍 Repository

Check out the repository for detailed code and resources:

Leverage this repository for your robotics projects and research endeavors.

📑 Citation

If you find this repository useful in your research or work, please cite:

1. H.D. Taghirad (2013). Parallel Robots: Mechanics and Control (1st ed.). CRC Press. DOI: 10.1201/b16096
2. Repository for Robotics Code: https://github.com/aras-labs/Robotics/

Repository

Explore the code and resources for these books in the GitHub repository:

Feel free to use this repository for your robotics projects and research.

An Introduction To Robotics Book

Chapter	Problem	Table (T) Figure(F)	Filename (Folder Name)	Description
3	3.1	3.1 (T)	FK_RRR.m	This code provides the forward kinematic solution of the 3R robot with DH and Screw methods. (DH-Based Analysis)
	3.2	3.2 (T)	FK_Elbow.m	This code provides the forward kinematic solution of the Elbow manipulator with DH and Screw methods.(DH-Based Analysis)
	3.3	3.3 (T)	FK_SCARA.m	This code provides the forward kinematic solution of the SCARA robot with DH method.
	3.4	3.4 (T)	FK_Stanford.m	This code provides the forward kinematic solution of the Stanford manipulator with DH and Screw methods.(DH-Based Analysis)
	3.9	3.5 (T)	FK_RRR.m	This code provides the forward kinematic solution of the 3R robot with DH and Screw methods. (Screw-Based Analysis)
	3.10	3.6 (T)	FK_Elbow.m	This code provides the forward kinematic solution of the Elbow manipulator with DH and Screw methods. (Screw-Based Analysis)
	3.11	3.7 (T)	FK_ElbowSix.m	This code provides the kinematic details of the 6DOF Elbow manipulator with DH and Screw methods.(Screw-Based Analysis)
	3.12	3.8 (T)	FK_Stanford.m	This code provides the forward kinematic solution of the Stanford manipulator with DH and Screw methods.(Screw-Based Analysis)
	4.7	4.1(T)	FK_ElbowSix.m	This code provides the kinematic details of the 6DOF Elbow manipulator with DH and Screw methods.(DH-Based Analysis)
4	4.2	-	Jacobian_RRR.m	This code provides the Jacobian derivation of the 3R robot  with General and Screw methods.(General method)
	4.3	-	Jacobian_SCARA.m	This code provides the General Jacobian derivation of the SCARA manipulator in three different frames.
	4.5	-	Jacobian_RRR.m	This code provides the Jacobian derivation of the 3R robot  with General and Screw methods.(Screw  method)
	4.7	-	Jacobian_ElbowSix.m	This MATLAB code calculates the Screw-based Jacobian of a 6-degree-of-freedom (DOF) Elbow manipulator in three different frames.
	4.8	-	Jacobian_ElbowSix.m	This MATLAB code calculates the Screw-based Jacobian of a 6-degree-of-freedom (DOF) Elbow manipulator in three different frames.
	-	-	Jacobian_Stanford.m	This code provides the Screw-based Jacobian derivation of the Stanford robot.
	-	-	Jacobian_RRR_inspection.m	This code provides the Jacobian derivation of the 3R robot  with General and Screw methods By inspection.
	-	-	Jacobian_SCARA_screw.m	This code provides the Screw-based Jacobian derivation of  the Stanford robot.
	-	-	Obstacle_3R.m	This code provides Optimal solution of redundancy problem with Obstacle avoidance objective in 3R robot
	-	-	Singularity_3R.m	This code provides Optimal solution of redundancy problem with Singularity Circumvention objective in 3R robot
	4.13	-	twoRisotropy.m	This code provides the isotropic analysis of a 2R manipulator.
	4.14	-	twoRisotropy.m	This code provides the isotropic analysis of a 2R manipulator.
	4.15	-	twoRisotropy.m	This code provides the isotropic analysis of a 2R manipulator.
5	5.1	-	Lagrange_2R.m	This code provides Dynamics formulation of 2R robot Problems 5.1 and 5.6 (Christoffel Matrix)
	5.3	-	Lagrange_3R.m	This code provides Dynamics formulation of 3R robot Problems 5.2 and 5.7 (Christoffel Matrix)
	5.4	-	Lagrange_SCARA.m	This code provides Dynamics formulation of SCARA robot Problems 5.4 and 5.8 (Christoffel Matrix)
	5.5	-	Lagrange_Elbow.m	This code provides Dynamics formulation of 3DOF Elbow manipulator Problems 5.5 and 5.9 (Christoffel Matrix)
	5.6	-	Lagrange_2R.m	This code provides Dynamics formulation of 2R robot Problems 5.1 and 5.6 (Christoffel Matrix)
	5.7	-	Lagrange_3R.m	This code provides Dynamics formulation of 3R robot Problems 5.2 and 5.7 (Christoffel Matrix)
	5.8	-	Lagrange_SCARA.m	This code provides Dynamics formulation of SCARA robot Problems 5.4 and 5.8 (Christoffel Matrix)
	5.9	-	Lagrange_Elbow.m	This code provides Dynamics formulation of 3DOF Elbow manipulator Problems 5.5 and 5.9 (Christoffel Matrix)
	-	-	C_Matrix.m (3R Dynamic Sim)	This function generates the Christoffel Matrix of the 3R Robot at configuration q
	-	-	G_Vector.m (3R Dynamic Sim)	This function generates the gravity vector of the 3R Robot at configuration q.
	-	-	ID_3R.m (3R Dynamic Sim)	This function generates  the dynamic behavior of 3R Robot  at configuration q.
	-	-	M_Matrix.m (3R Dynamic Sim)	This function generates the Mass Matrix of the 3R Robot at configuration q.
	-	-	Parameters.m (3R Dynamic Sim)	This program sets the Physical Parameters of the 3R Robot in a structure format.
	-	-	PD_3R.m (3R Dynamic Sim)	This program simulates the closed loop dynamic behavior of 3R Robot with a PD Controller.
	-	-	TP_cubic.m (3R Dynamic Sim)	This code generates trajectories for 3R robots  For simulation purposes.
	-	5.13 (F) 5.14 (F)	ID_sim.m (3R Dynamic Sim)	This code Runs the  Inverse dynamics of 3R manipulator with PD controller.
	-	5.15 (F)	CL_sim.m (3R Dynamic Sim)	This code Runs the closed loop simulation of a 3R manipulator with a PD controller.
6	-	6.6 (F)	secondorder.m	This program illustrated transient response of a second order system for different values of \zeta and \omega_n
	-	-	CL_Dynamics.m (00 PD Control)	This function generates the closed-loop dynamic formulation of the 3R planar robot with a PD controller.
	-	-	Dynamic_Matrices.m (00 PD Control)	This function generates the dynamic matrices of the 3R planar robot.
	-	-	PD_Control.m (00 PD Control)	This function generates the feedback torques based on PD control law.
	-	-	PlotData.m (00 PD Control)	This function plots the simulation result.
	-	-	Structural_Parameters.m (00 PD Control)	This function generates all the required parameters of the programs in a structured format.
	-	-	TP_quintic.m (00 PD Control)	This function generates a quintic trajectory with via points.
	-	6.22 (F) 6.23 (F)	CL_Dynamic_Solver.m (00 PD Control)	This code Runs the closed loop simulation of a 3R manipulator with a PD controller.
	-	-	noise.m (01 PID Control)	This program generates the measurement noise.
	-	-	PID_Control.m (01 PID Control)	This function generates the feedback torques based on PID control law.
	-	6.19 (F) 6.20 (F) 6.21 (F) 6.24 (F) 6.25 (F)	CL_Dynamic_Solver.m (01 PID Control)	This code Runs the closed loop simulation of 3R manipulator with PID controller
	-	-	TP_quintic_via.m (01 PID Control)	This function generates a quintic trajectory with nonzero initial velocities and accelerations
	-	-	FF_Control.m (02 FF Control)	This function generates the feedback torques based on PD control law + Feedforward Term.
	-	6.26 (F) 6.27 (F) 6.28 (F) 6.29 (F)	CL_Dynamic_Solver.m (02 FF Control)	This code Runs the closed loop simulation of 3R manipulator with PD controller with Feedforward Term.
	-	-	IDC_Control.m (03 IDC Control)	This function generates the feedback torques based on Inverse Dynamics + PID control law.
	-	6.30 (F) 6.31 (F)	CL_Dynamic_Solver.m (03 IDC Control)	This code Runs the closed loop simulation of 3R manipulator with Inverse Dynamic + PID controller
	-	-	PIDC_Control.m (04 PIDC Control)	This function generates the feedback torques based on Partial IDC + PID
	-	6.32 (F) 6.33 (F)	CL_Dynamic_Solver.m (04 PIDC Control)	This code Runs the closed loop simulation of 3R manipulator with Partial IDC + PID.
	-	-	RIDC_Control.m (05 RIDC Control)	This function generates the feedback torques based on Robust IDC + PID control law.
	-	6.34 (F) 6.35 (F) 6.36 (F) 6.37 (F)	CL_Dynamic_Solver.m (05 RIDC Control)	This code Runs the closed loop simulation of 3R manipulator with Robust IDC + PID.
	-	6.38 (F) 6.39 (F) 6.40 (F)	PlotData.m  (Compare)	This program plots the results of different controllers.
Ap.B	B.1	B.1 (F)	Cubic_2R.m	This code provides Trajectory planning of 2R Robot By Cubic Polynomials.
	B.2	B.5(F)	Cubic_2R_via.m	This code provides Trajectory planning of 2R Robot By Cubic Polynomials with via point.
	B.3	B.6 (F)	Quintic_2R.m	This code provides Trajectory planning of 2R Robot By Quintic Polynomials.
	B.4	B.8 (F)	blend_2R.m	This code provides Trajectory planning of 2R Robot By Linear with parabolic blend.
	B.5	B.9 (F)	opt_blend_2R.m	This code provides Trajectory planning of 2R Robot By Linear with parabolic blend (Time optimal)
	B.6	B.10 (F) B.11 (F)	CubicE_2R.m	This code provides Trajectory planning of 2R Robot in Cartesian Space by Cubic Polynomials.