3RRR Planar Parallel Manipulator

This repository contains all the Matlab codes for the study of the 3-RRR planar parallel manipulator.

Repository Organization

The repository is organised as follows:

• Kinematics contains the files relative to the kinematics study:

  • inverse kinematics
  • direct kinematics
  • workspace approximation
  • workspace analysis

• Singularities contains the files relative to the singularity analysis:

  • Jacobian determinant calculation
  • Jacobian condition number calculation
  • singularity loci analysis

• Compliant Robot contains the files relative to the compliant version of the 3-RRR robot:

  • compliant workspace from inverse kinematics-based method
  • compliant workspace from geometry-based method
  • workspace optimization based on singularity avoidance
  • kinetostatics analysis