This repository contains my coursework, homework, and projects for the Robotics course at National Yang Ming Chiao Tung University (NYCU).
Instructor: Prof. Kuu-Young Young (楊谷洋)
The repository includes homework assignments and two major robotics programming projects implemented in MATLAB.
| Component | Score |
|---|---|
| HW1 | 100 |
| HW2 | 100 |
| HW3 | 100 |
| HW4 | 100 |
| HW5 | 100 |
| Project 1 | 100 |
| Project 2 | 90 |
NYCU-Robotics-Course
│
├── Homework
│ ├── Assignments # Homework problem statements
│ └── Solutions # My homework solutions
│
├── Robotics_Project1_314605012
│ ├── README.md
│ ├── docs
│ └── MATLAB source code
│
└── Robotics_Project2_314605012
├── README.md
├── docs
└── MATLAB source code
The Homework directory contains:
-
Assignments
Original homework problem statements provided in the course. -
Solutions
My MATLAB implementations and written solutions.
All homework assignments received a score of 100/100.
This project focuses on implementing the kinematics of the Stanford manipulator, including:
- Forward kinematics
- Inverse kinematics
- Transformation matrix computation
- Joint range validation
The MATLAB program calculates multiple inverse kinematics solutions and verifies whether the joint values are within the robot's mechanical limits.
Final Score: 100/100
This project implements robot trajectory planning and motion visualization.
Main components include:
- Joint space trajectory planning
- Cartesian trajectory planning
- LSPB (Linear Segment with Parabolic Blend) trajectory generation
- Robot animation in MATLAB
The system generates smooth robot motion trajectories and visualizes the movement of the manipulator.
Final Score: 90/100
All projects were implemented using:
- MATLAB R2022b
Chi-En Peng
National Yang Ming Chiao Tung University
Graduate Institute of Robotics