Maximum Joint Speed Analysis of a 5-DOF Kinematic Chain. MATLAB Script
Published: 21 July 2025| Version 1 | DOI: 10.17632/m9486524f7.1
Contributors:
, Description
This dataset presents a MATLAB script that computes the maximum speed in the first joint of a 5-DOF open kinematic chain for various methods of calculating the actuation wrench. The accompanying paper describing the applied algorithm will be presented in Journal of Machinery Manufacture and Reliability. Please check the list of works at https://orcid.org/0000-0002-3928-5440.
Files
Steps to reproduce
The script has been prepared in MATLAB R2023a and needs the Modern Robotics package, which is available free online at https://github.com/NxRLab/ModernRobotics. After installing the package, the script can be run using "Run" or "Run and Advance" commands in the "Editor" tab.
Institutions
Categories
Mechanical Engineering, Joint Kinematics, Kinematics, Velocity, Manipulator, Kinematics of Mechanism, Screw Theory