Author = Shashank Ghosh, 21110196
This repository contains 5 python scripts that are the solution to Task 1, Task 1(a), Task 2, Task3 and Task 4.
In Task 1, dynamics of the 2R manipulator is ignored and simply the joint angles are passed into the Forward Kinematics function to print a random trajectory. The joint anlges q1,q2 belong to (0,pi).
In Task 1(a), dynamics are included by assuming m1=m2=1.0 , and I1=I2=0.3333 (I=1/3ml^2). Low speed and High speed trajectories are realised by setting the num_steps as Large(1000) for low speed trajectory and Low(100) for high speed trajectory. It is seen that
In Task 2, dynamics are included and num_steps can be changed accordingly to incorporate high speed trajectory and Low speed speed trajectory.
In Task 3, The fixed mean point chosen is (1,1) and the manipulator acts as a spring about that point. Initial displaced end effector point is (1,0). The Code doesn't work ;(
InTask 4, The workspace of the Manipulator are all points inside the Semi-Circular Figure that the End effector traces. The Dynamics are ignored.