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."