This repository contains a set of Jupyter notebooks focused on kinematics analysis, providing insights into various mechanical and robotic systems. Each notebook highlights specific concepts and computational techniques.
- Explores the kinematics of a four-bar linkage system.
- Discusses the derivation of the Jacobian matrix.
- Analyzes the relationship between joint torques and external forces using the equation ( \tau = J^T F ).
- Features detailed computations and visualizations to understand the dynamics of the system.
- Focuses on foldable mechanisms and their kinematic behavior.
- Provides solutions to assignment-based problems on foldable linkages.
- Includes a step-by-step breakdown of the kinematic equations.
- Demonstrates the analysis and modeling of the folding mechanisms through practical examples.
- Incorporates quaternions to represent and compute rotations efficiently, ensuring accurate modeling of foldable linkages in 3D space.
- Delves into the kinematics of robotic systems.
- Covers forward and inverse kinematics for robotic arms.
- Examines transformations, joint space, and workspace analysis.
- Utilizes practical examples to illustrate robotic motion and control strategies.
- Employs quaternions for rotation representation, avoiding gimbal lock and enhancing computational efficiency in robotic motion analysis.
Each notebook is a standalone exploration of its topic, featuring both theoretical derivations and computational implementations to bridge the gap between concepts and practical applications.
To run the notebooks in this repository, ensure you have the required Python packages installed. The dependencies are listed in the requirements.txt file. You can install them using:
pip install -r requirements.txtThis repository is authored by Pranay Palem, showcasing work done as part of academic assignments and research into kinematics analysis.
Feel free to explore the notebooks to gain insights into the fascinating world of kinematics!