MATLAB-For-Robotics-concepts

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.

🔹 Overview

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.

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📁 Repository Structure

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.

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🛠️ How to Get the Most Out of This Repository

1️⃣ Getting Started

• 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.

2️⃣ Understanding Robotics Concepts

• 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.

3️⃣ Visualizing Key Topics

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.

4️⃣ Experimenting and Learning More

• 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.

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🔗 References

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.

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💡 Contributing

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.

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📩 Contact & Support

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! 😊

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🚀 Let's Learn Robotics Together!

This repository is built with the goal of making robotics concepts easier to understand through visualization. Have fun exploring and coding!