Industrial robotics simple demo

Project by Dario Lombardo and Leonie Elbel, 2025. Requires Peter Corke's robotic toolbox

Trapezoidal trajectory generation

All the trajectories from initial to final points are generated using the custom trapezoidal_trajectory() function

Direct (joint space) and inverse (operational space) navigation

• Direct path planning exmple in direct_path_planning.m : a point in joint space is defined, trapezoidal trajectory is generated from the starting position, and forward kinematics are applied
• Operational space point to point (P2P) is implemented in inverse_interactive_P2P.m

Manipulability ellipsoid plotting

• In the script manipulability_ellipsoid.m, given a robot position, we calculate the manipulability ellipsoid form the kinematic Jacobian and plot it