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This document describes an undergraduate robotics project that involved developing an 8 degree-of-freedom (DOF) redundant manipulator model in ROBOSIM simulation software and using inverse kinematics to position the end effector. The author created an 8-DOF manipulator model in ROBOSIM comprising 8 revolute joints. Denavit-Hartenberg parameters were used to develop transformation matrices relating each link. The Jacobian was derived by taking derivatives of the end effector position with respect to joint pa

Author

Xavier Waller

Language

EN