Kinematics and Dynamics of Mechanical Systems, 3rd Edition

Appendix G: User Instructions for Chapter 11 MATLAB^® Files

G.1 R-P-P Robotic Manipulator Forward Kinematics

The Appendix G.1 folder (which is available for download at https://www.routledge.com/p/book/9781032328317) includes two MATLAB files for R-P-P robotic manipulator forward kinematics.^* These two files are described in Table G.1. To conduct an R-P-P forward kinematics analysis, the user specifies the R-P-P joint displacements in the file RPP_Input.csv. This file is compatible with Microsoft^® Excel. Also, {³p₃} is specified in the file RPP_FK.m. Figure G.1 illustrates the user-input section of this file, with sample values in bold type.

* The library of MATLAB files presented in this appendix can also be downloaded from the authors’ server ...