Still Under Construction
Welcome to the MATLAB - For Robotics Concepts repository! This repository is designed to help students, researchers, and robotics enthusiasts understand fundamental robotics concepts through easy-to-follow MATLAB visualisations and animations.
This repository follows a structured, chapter-wise approach based on John Craig’s "Introduction to Robotics: Mechanics and Control" and Bruno Siciliano’s "Robotics: Modelling, Planning and Control." including concepts from other popular books for better understanding. The codes help simplify complex concepts through step-by-step animations and clear visualisations. It provides interactive MATLAB scripts that visually explain core robotics topics such as transformations, kinematics, dynamics, trajectory planning, and control.
Each script is well-documented and includes step-by-step animations to simplify complex mathematical concepts, making it easier for learners to grasp.
The repository is organized into chapters corresponding to key robotics topics:
MATLAB-For-Robotics-Concepts/
├── Spatial_Transformations/
├── Manipulator_Kinematics/
├── Inverse_Kinematics/
├── Jacobians/
├── Dynamics/
├── Trajectory_Planning/
├── Linear_Control/
├── Nonlinear_Control/
├── Force_Control/
├── Modeling/
├── README.md
Each chapter contains MATLAB scripts and animations to illustrate key concepts.
- Clone the repository:
git clone https://github.com/SakethGG/MATLAB-For-Robotics-concepts
- Navigate to a chapter of interest.
- Open and run the MATLAB script in that folder.
- Read the README file within each chapter for an overview.
- Run the MATLAB scripts to see animated transformations and simulations.
- Modify parameters in the scripts (e.g., joint angles, link lengths, rotation orders) to explore different behaviours.
Here are some highlights of what you’ll learn:
📌 Spatial Transformations – Visualizing rotation matrices, Euler angles, homogeneous transformation matrices.
📌 Manipulator Kinematics – Simulating forward and inverse kinematics, workspace visualization.
📌 Jacobians & Velocities – Understanding singularities and velocity transformations.
📌 Manipulator Dynamics – Simulating forces, torques, and energy in robotic motion.
📌 Trajectory Planning – Generating and animating smooth trajectories in joint and task space.
📌 Control Strategies – Implementing PD, PID, and adaptive control techniques for robotic motion.
📌 Force Control – Understanding impedance and hybrid position/force control.
- Modify the scripts to test different transformations, robots, or environments.
- Combine multiple scripts to create custom animations.
- Compare results with textbook problems to reinforce theoretical knowledge.
The concepts covered in this repository are based on:
📖 "Introduction to Robotics: Mechanics and Control" – John J. Craig
📖 "Robotics: Modelling, Planning and Control" – Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo
For deeper understanding, users are encouraged to refer to these books while running the MATLAB scripts.
Contributions are welcome! If you’d like to add new visualizations or improve existing ones:
- Fork the repository
- Create a new branch
- Submit a pull request
For any issues or feature requests, open an Issue on GitHub.
For questions, suggestions, or collaboration opportunities, feel free to reach out!
📧 Email: sakethvegesna.online@gmail.com 🌐 GitHub: SakethGG
If you find this repository useful, give it a ⭐️ on GitHub! 😊
This repository is built with the goal of making robotics concepts easier to understand through visualization. Have fun exploring and coding!