Mathematica Code for Redundant Manipulator Simulations

• Jacobian pseudo-inverse example.
• Jacobian weighted pseudo-inverse example. Change the W matrix to affect the speed of individual joints. To see a particular joint velocity reduced, provide a relatively high value to the corresponding location in the W matrix. If W is the identity matrix, you should see exactly the same results as in the previous example.
• Self-motion example.
• Null-space projection algorithm example where manipulator hits an obstacle by only using the pseudo-inverse.
• Null-space projection algorithm example where manipulator avoids the obstacle by using the null space projection algorithm. The desired "\dot O" is given by the two variables, xod and yod, and is preset at (xod,yod) = (0,1). To the extent it is compatible with the desired end effector velocity (given by xd, yd), point O will have that desired motion. If you change the values for (xod, yod), you should see a corresponding change in the behavour of the system.