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Forward-kinematics
- 机械臂正运动学，工作空间,包括5个文件，kongjian.m为运行文件，R_x.m为绕x轴转动变换矩阵，T_m.m为平移变换矩阵-Forward kinematics workspace
apso
- 根据机器人工作空间，利用粒子群算法计算关节型机器人各个机械臂尺寸，包含了目标函数，适应度函数等(According to the robot workspace, the particle swarm algorithm (PSO) is used to calculate the dimensions of each robot arm, including the objective function and the fitness function)
机械臂
- 雄克机械臂轨迹规划，触摸空间中8个红点的大仿真(Male manipulator trajectory planning, touch the eight large red dot simulation in the space)
draw_trace.m
- 机器人仿真，画出机械臂在笛卡尔空间的运动轨迹(Robot simulation, drawing the trajectory of the manipulator in Cartesian space)
adv_robotics_homework-master
- 讲述了机械臂的路径规划，包括关节空间规划和笛卡尔空间规划(This paper introduces the path planning of manipulator, including joint space planning and Cartesian space planning)