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
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Robot Constructor part
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Direct Kinematics
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Workspace
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Inverse Kinematics
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Applications
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Presentation Slides
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