For a two-arm manipulator with two revolute joints I have wrote a code in Matlab to do the following. 1.Draw the robot world to display the robot and some polygonal obstacles 2.To generate the robot end-effector workspace. 3.To generate the configuration space and display the configuration space obstacles.
Implementation of a 2-D 2DoF manipulator configuration space visualizer, as well as implementations of a gradient descent and wavefront planner for this manipulator.
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