Analysis and Path Planning for 5 DOF Robot

Path planning is an important issue as it allows a robot to get from point A to point B. In this project, first, the robot has been analyzed with Lagrange methods. Then the desired path designed. For defining the path, we used some of differential geometry concepts such as curvatures of the curves. Finally, with numerical methods, especially Euler method, the equations of degrees of freedom were solved.

Course Project
Department of Mechanical Engineering, Isfahan University of Technology