Solution to the Inverse Velocity Problem of a 5-DOF Parallel-Serial Manipulator. MATLAB Files

Description

This dataset presents MATLAB files that solve the inverse velocity problem for a 5-DOF hybrid (paralell-serial) manipulator, presented in paper https://doi.org/10.1007/978-3-031-32446-8_36. The corresponding paper describing the applied algorithm will be presented in Journal of Mechanisms and Robotics. Please check the list of works at https://orcid.org/0000-0002-3928-5440. The dataset is based on the previous dataset (https://doi.org/10.17632/vct5jzkzk6.1), which solves the inverse position problem for the same manipulator. It includes the following functions and folders: 1. Function "main.m" is a complete program, which solves the inverse velocity problem and plots the results. It can be run using "Run" or "Run and Advance" commands in the "Editor" tab. 2. Folder "Init" includes function "initParams.m," which sets the geometrical parameters of the considered manipulator. 3. Folder "Kinematics" includes: 3.1. Function "ikp.m," which solves the inverse position problem using auxiliary functions from the "Auxiliary" subfolder. 3.2. Function "ivp.m," which solves the inverse velocity problem. 3.3. Function "circle.m," which sets the trajectory used for the analysis. 4. Folder "Plot" includes: 4.1. Function "plotIVP.m," which plots the solution of the inverse velocity problem. 4.2. Function "plotTraj.m," which plots the trajectory set in "circle.m" and used for the analysis. 4.3. Function "plotMech.m," which plots the manipulator in the specified configuration. 4.4. Function "plotSettings.m," which provides plot settings for the plots generated by "plotTraj.m" and "plotMech.m." 4.5. Subfolder "Figures," which contains the results of the previous simulations.

Steps to reproduce

The functions have been obtained in MATLAB R2022a using standard functions. If you just want to run function "main.m" and get the results (without function "plotMech.m"), no additional toolboxes are required. The function can be run using "Run" or "Run and Advance" commands in the "Editor" tab. If you want to use function "plotMech.m," which plots the manipulator in the specified configuration, you will need the "Modern Robotics" MATLAB package and its functions. This package is available free online at https://github.com/NxRLab/ModernRobotics.

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