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NYCU Robotics Course Projects

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.

Course Performance

Component Score
HW1 100
HW2 100
HW3 100
HW4 100
HW5 100
Project 1 100
Project 2 90

Repository Structure

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

Homework

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.

Project 1 – Stanford Manipulator Kinematics

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

Project 2 – Robot Motion Planning and Animation

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

Software

All projects were implemented using:

  • MATLAB R2022b

Author

Chi-En Peng
National Yang Ming Chiao Tung University
Graduate Institute of Robotics