Inverse Kinematics of a 5-DOF Hybrid Manipulator. MATLAB Files

This dataset presents MATLAB files that solve the inverse kinematics problem for a 5-DOF hybrid (paralell-serial) manipulator, introduced in paper doi.org/10.3103/S1052618818050059 in Fig. 11 of the paper (one can also consider paper doi.org/10.31857/S023571190001553-9 or https://elibrary.ru/item.asp?id=36425431 for the original version in Russian). The corresponding paper describing the applied inverse kinematics algorithm is going to appear soon: please check the list of works at https://orcid.org/0000-0002-3928-5440.

The dataset includes the following functions and folders:

1. Function "main.m" is a complete program, which solves the inverse kinematics problem and plots the results. It can be run using "Run" or "Run and Advance" commands in the "Editor" tab.
2. Folder "Init" includes function "initParams.m," which sets the geometrical parameters of the considered manipulator.
3. Folder "Kinematics" includes:
3.1. Function "ikp.m," which solves the inverse kinematics problem.
3.2. Function "traj.m," which sets the trajectory used for the analysis.
3.3. Function "PoESym.m," which generates auxiliary functions, presented in folder "Auxiliary," from symbolic expressions. This function is not necessary to run "main.m," because all the required auxiliary functions, which are necessary, have already been generated in this dataset.
4. Folder "Plot" includes:
4.1. Function "plotIKP.m," which plots the solution of the inverse kinematics problem.
4.2. Function "plotTraj.m," which plots the trajectory set in "traj.m" and used for the analysis.
4.3. Function "plotMech.m," which plots the manipulator in the required configuration.
4.4. Function "plotSettings.m," which provides plot settings for the plots generated by "plotTraj.m" and "plotMech.m."

本数据集提供了用于求解5自由度（5-DOF）混联（串并联）机械臂逆运动学问题的MATLAB文件。该机械臂的相关内容首次刊载于论文doi.org/10.3103/S1052618818050059的图11中；读者也可参考论文doi.org/10.31857/S023571190001553-9或https://elibrary.ru/item.asp?id=36425431以获取其俄语原版内容。本数据集所采用的逆运动学算法的配套论文即将正式发表，读者可通过https://orcid.org/0000-0002-3928-5440查看作者的学术成果列表。

本数据集包含如下函数与文件夹：
1. 函数“main.m”为完整程序，可求解逆运动学问题并绘制结果。可通过MATLAB“编辑器”选项卡中的“运行”或“运行并进阶”命令启动该程序。
2. 文件夹“Init”包含函数“initParams.m”，用于设置所研究机械臂的几何参数。
3. 文件夹“Kinematics”包含如下内容：
3.1 函数“ikp.m”：用于求解逆运动学问题。
3.2 函数“traj.m”：用于设置分析所用的运动轨迹。
3.3 函数“PoESym.m”：通过符号表达式生成存放在“Auxiliary”文件夹中的辅助函数。运行“main.m”无需调用该函数，因为本数据集已预先生成所有所需的辅助函数。
4. 文件夹“Plot”包含如下内容：
4.1 函数“plotIKP.m”：用于绘制逆运动学问题的求解结果。
4.2 函数“plotTraj.m”：用于绘制“traj.m”中设置的分析所用运动轨迹。
4.3 函数“plotMech.m”：用于绘制指定位姿下的机械臂。
4.4 函数“plotSettings.m”：为“plotTraj.m”与“plotMech.m”生成的图像提供绘图参数设置。