6-Axis Manipulator

6-Axis Manipulator Image 1
6-Axis Manipulator FK
6-Axis Manipulator RTB-Visualization
6-Axis Manipulator Frame Arrangement
6-Axis Manipulator workspace

Project Information

  • Category: Robotics
  • Project date: Feb 2025 - Present
  • Project URL: GitHub Repo

6-Axis Manipulator: Academic Project Overview

This project was developed as part of my academic coursework to explore the fundamentals of robotics, specifically focusing on the modeling and simulation of a 6-axis robotic manipulator. The main objective was to understand kinematic chains, workspace analysis, and basic control strategies using MATLAB and the Robotics Toolbox.

Through this project, I gained hands-on experience in defining Denavit-Hartenberg (DH) parameters, performing forward and inverse kinematics, and visualizing robot motion. The work also included basic trajectory planning and workspace visualization, providing a strong foundation in robotics concepts.

The project was implemented using MATLAB, leveraging the Robotics Toolbox for simulation and analysis. This academic exercise helped reinforce theoretical knowledge with practical application, preparing me for more advanced robotics projects in the future.

Project Highlights

Kinematic Modeling

Defined DH parameters and constructed the manipulator's kinematic chain for simulation.

Forward & Inverse Kinematics

Implemented algorithms to calculate end-effector positions and joint angles.

Workspace Analysis

Visualized the reachable workspace of the manipulator using MATLAB plotting tools.

Simulation Practice

Simulated robot motion and basic trajectory planning in a virtual environment.