6 DOF Robotic Manipulator
Built a six-degree-of-freedom serial robot arm from scratch — derived DH parameters, solved forward/inverse kinematics analytically, and characterized the workspace and singularities in MATLAB.
This project involved physically building a six-degree-of-freedom serial robot arm from scratch, then performing a complete kinematic characterization. DH parameters were derived from the physical geometry and used to compute forward kinematics symbolically. Inverse kinematics were solved analytically using geometric decomposition, with a numerical fallback for configurations near singularities.
The geometric Jacobian was derived and evaluated across the workspace to identify kinematic singularities — configurations where the manipulator loses one or more degrees of freedom. Manipulability ellipsoids were plotted to visualize dexterity across the reachable workspace. All analysis was implemented in MATLAB with 3D visualization.
