Hi,
For this assignment, you’ll need access to MATLAB with the Robotics System T

Hi,
For this assignment, you’ll need access to MATLAB with the Robotics System Toolbox, including the inverseKinematics solver and interactiveRigidBodyTree. Additionally, I have a FANUC file from my peer’s solution. I’d like you to review his approach to understand how he tackled the problem, but please ensure not to copy it directly. Instead, we should take a unique approach to achieve the same functional goals.
Goals:
Starting Point:I don’t need the initial matrices part of the code. Instead, I need help starting from the section where the robot model is loaded: robot = loadrobot(“fanucLRMate200ib”);
From here, we’ll set up the inverse kinematics solver, define the target end-effector position, and configure the visualization.
Inverse Kinematics:I need to calculate joint angles so the robot’s end-effector reaches a specific target position and orientation.
We’ll use MATLAB’s inverseKinematics solver with a set of weight values to prioritize certain axes for accuracy. I’d like to start with an initial guess configuration, ideally homeConfiguration(robot).
For the output tables of joint angles, we should adjust the joint angle values or use alternative configurations where possible to differentiate the results.
Interactive Visualization:Using interactiveRigidBodyTree, I want to manipulate the robot visually to explore configurations in real time.
Additionally, plotTransforms should be used to show the target position, so it’s easy to see where the end-effector is aiming to go.
Key Requirements for Originality:
Structure and Variable Naming:Please use unique variable names and function names if defining any. For example, instead of initial_guess, use starting_config, or instead of solver, use ik_solver.
Change the structure of the code to be different from typical setups. For example, you can organize the code into functions or modular steps for each part to make it unique.
Joint Angle Tables:For any tables showing joint angles, please modify the values or configurations. The numbers don’t need to match exactly; they should show alternative feasible solutions for the given position.
Comments and Explanation:It would be helpful if you could add comments that explain each step, so the purpose of each line is clear and distinct.
Visualization:If possible, I’d like a different approach to visualization. For instance, rather than plotting everything in one figure, try using subplots to show multiple views (like top and side views) or configurations. This will make the solution unique and visually clear.
Resources Available:
The inverseKinematics solver and interactiveRigidBodyTree features are from MATLAB’s Robotics System Toolbox.
We can use standard joint angles and link lengths typical of the FANUC LR Mate robot, but these values need to be adapted with unique substitutions if possible.
The end goal is a code that:Solves the inverse kinematics with unique names, comments, and structure.
Uses modified joint angle values in tables to avoid copying.
Visualizes the robot’s configuration without copying the structure of my peer’s solution.