homework from ME439

from POSTECH

1. coppelia sim scene for controlling the Indy 7 manipulator
2. MATLAB assignments for solving problems

Using Matlab

Can calculate the 2R open chane robot's configuration with manipulibility elipsoid and 1st, 2nd, 3rd measure of the manipulability.

ex) when L1 = 1, L2 = 1, theta 1 = -10, theta 2 = 10

ex) when L1 = 1, L2 = 1, theta 1 = 60, theta 2 = 60

ex) when L1 = 1, L2 = 1, theta 1 = 135, theta 2 = 90

ex) when L1 = 1, L2 = 1, theta 1 = 190, theta 2 = 160

ex) complex case