Trajectory Planning for Robot Manipulators

MATLAB and Simulink examples for trajectory generation and evaluation of robot manipulators.

This submission consists of educational MATLAB and Simulink examples for trajectory generation and evaluation of robot manipulators.

All examples feature the 7-DOF Kinova Gen3 Ultra lightweight robotic manipulator: https://www.kinovarobotics.com/en/products/robotic-arms/gen3-ultra-lightweight-robot

There is a presaved MATLAB rigid body tree model of the Kinova Gen3; however, you can
access the 3D model description from the Kinova Kortex GitHub repository: https://github.com/Kinovarobotics/ros_kortex

For more information on the Robotics System Toolbox functionality for manipulators,
see the documentation: https://www.mathworks.com/help/robotics/manipulators.html

For more background information on trajectory planning, refer to this presentation: https://cw.fel.cvut.cz/old/_media/courses/a3m33iro/080manipulatortrajectoryplanning.pdf

If you have any questions, email us at [e-mail].