Serial and Parallel Robot Kinematics and Mobile Robot Motion Planning

Robotics fundamentals coursework at the University of Bristol and UWE Bristol

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Table of Contents

• Abstract
• Animations
• Contributors
• License

Abstract

Kinematics concept has been the essential part of robots controlling. This report of the coursework demonstrates our understanding on robots fundamentals. Denavit-Hartenberg convention is highlighted in kinematics and is further used in the analytical approach to derive the inverse kinematics on both serial and parallel robots. Additionally, an algorithm in motion planning is implemented in simulation. Detailed discussion is given in the following parts.

Animations

• Free motion

• Demo of straight line trajectory

• Straight line trajectory

• Obstacle avoidance

• Tangent Bug motion planning

Contributors

Jinhang Zhu

Wengxing Peng

License

• MIT