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This repository offers an exhaustive resource for the kinematic analysis of mechanical systems. It encompasses a comprehensive suite of tools and documentation for analyzing position, velocity, and acceleration of various mechanisms.
This repository contains my final project for Mechanical and Aerospace Engineering 162A, Mechanisms and Mechanical Systems, taken with Prof. Jonathan Hopkins, Spring 2021
This GitHub repository contains the homework assignments completed as part of the course EE-CE-CS-366-366-380: Introduction to Robotics. The assignments include four different blocks: Vision Block, Forward Kinematics Block, Inverse Kinematics Block, Control Block, and Trajectory Block. Each block is a crucial aspect of robotics
Obtantion of the complete dynamic model for omnidirectional tire-wheeled robot (Otbot) used to make parameter identification, design a control law and verify both via MATLAB simulations.
This repository contains the implementation of the stiffness analysis of the double pantograph transmission system using MSA, and VJM approaches for accuracy improvement purposes.
A free and open-source toolkit has been developed using an anthropomorphic arm model, allowing any data set containing joint angles over time to be implemented to visualise motion for kinematic analysis.
This repository contains Python code used for the extraction and clustering of muscle and kinematic synergies from preprocessed EMG data, as described in the research paper . The data was initially imported from Vicon c3d files.
Kinematic and dynamic modelling of a cable-driven parallel robot used to control an inverted pendulum. Development of a controller to stabilise the pendulum in its vertical unstable position by means of linear quadratic regulators. Validation of the controller in simulation, so it can maintain the equilibrium position despite the appearance of u…