RRR-robot

An example of computing forward, inverse kinematics, and trajectory planning of a RRR robot in both C++ and MATLAB.
Refer to rrr-robot-report.pdf

MATLAB

1. Install the toolbox by Peter Corke - RTB-10.4.
2. Run the file main.m. This will demonstrate the forward and inverse kinematics.
3. The file input.mat contains the desired cartesian trajectory points in the format -
   x   y   z   time
4. To view the computed joint trajectory run main.m with the last line uncommented.

C++

1. Compile the C++ files using the command
   g++ main.cpp robot.cpp connection.cpp -o main
2. The file input.in contains the desired cartesian trajectory points in the format -
   x   y   z   time
3. Run the the file main.exe