Analytical IK for RRR robot
Budget: $30 – $250 CAD
The task is to implement and test the inverse kinematics (IK) of a simplified 6-DOF Gen3 Lite robotic arm.
All functions must be implemented from scratch (no toolbox, no external libraries) and validated through comparison with your own direct kinematics models.
You will receive:
A PDF with all problem statements and figures (Questions 1, 4, 5, 6).
A working dcm2eul.m file.
Empty templates for ikine_anthroRRR.m, ikine_gen3_simplifie.m, and test.m.
Your tasks:
Complete both inverse-kinematics functions analytically.
Develop the direct kinematics models (3-DOF and 6-DOF).
Validate by ensuring DirectKinematics(InverseKinematics(T)) ≈ T.
Integrate everything into test.m and provide working .m files.
The work must be error-free, self-contained, and fully testable.
All functions must be implemented from scratch (no toolbox, no external libraries) and validated through comparison with your own direct kinematics models.
You will receive:
A PDF with all problem statements and figures (Questions 1, 4, 5, 6).
A working dcm2eul.m file.
Empty templates for ikine_anthroRRR.m, ikine_gen3_simplifie.m, and test.m.
Your tasks:
Complete both inverse-kinematics functions analytically.
Develop the direct kinematics models (3-DOF and 6-DOF).
Validate by ensuring DirectKinematics(InverseKinematics(T)) ≈ T.
Integrate everything into test.m and provide working .m files.
The work must be error-free, self-contained, and fully testable.