My Dissertation Work

I am currently finishing up my phd dissertation at UT arlington. I worked on optimization and robotics, integrating both of them. So the
contributions include.. * A travelling salesman like solver to optimize tool path. * A new notation which defines 6 parameters to define joint transformations * A new inverse kinematics solver based on Iterative Numerical technique * Extension of this IK solver to analyze Mechanisms. Integrated all these into a tool and simulations/demo is posted here
Path optimization Solver

Robot Constructor part

Direct Kinematics


Inverse Kinematics


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