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Introduction

This is a kinematics demo for a 2PRSPSR hybrid robot built with MATLAB.

Usage

  1. Add all the folders and sub-folders to the path.

  2. Run demo.m.

Result

gif

Notations

image

Reference

The notation about the kinematics is defined in the paper.

ZiKang SHI, WeiJia ZHANG, Ye DING, A local toolpath smoothing method for a five-axis hybrid machining robot, SCIENCE CHINA Technological Sciences, -, ISSN 1674-7321, https://doi.org/10.1007/s11431-022-2315-7. (http://www.sciengine.com/doi/10.1007/s11431-022-2315-7)

Keywords: hybrid robot; toolpath smoothing; B-spline; five-axis machining; trajectory generation;