Robotic Manipulation Project Course 2021/22

This repository is a work in progress, where Python and Julia will be tested to see if they are good candidates to replace MATLAB/Simulink

Project of Robotic's Manipulation course of 2021/22 in Instituto Superior Técnico - Universidade de Lisboa by using Julia/Python as programming language instead of MATLAB/Simulink.

Project plan

This project is going to follow the following plan for each section of it:

1. Kinematics - Part K
   1. Robot's DHC table
   2. Direct Kinematics
   3. Geometric Jacobian
   4. CLIK
   5. Inverse Kinematics
2. Dynamic - Part D
   1. Add $I_m$, $m$ and $\bar{c}_m$ in the DHC table
   2. Dynamics Model - Lagrange VS Newton
   3. Decentralized PID
   4. Centralized Inverse Dynamics
   5. Project a task and trajectory for it

In each step, it is necessary to make this code the most adapted to the signal as a time series' concept, needed to make therefore a way to express this series in either a vector or as list of tuple of $(time, value)$. Besides that, it is necessary to test it, which will be necessary to develop scripts for testing and, big surprise, a CI client.

Current status

1. Kinematics - Part K
   • Robot's DHC table
   • Direct Kinematics
   • Geometric Jacobian
   • CLIK
   • Inverse Kinematics
2. Dynamic - Part D
   • Add $I_m$, $m$ and $\bar{c}_m$ in the DHC table
   • Dynamics Model - Lagrange VS Newton
   • Decentralized PID
   • Centralized Inverse Dynamics
   • Project a task and trajectory for it