This project focuses on the analysis of a rover manipulator, ensuring compatibility with the given link parameters. The rover is approximated as a box-shaped structure with specific dimensions. A crucial phase involved defining the Modified Denavit-Hartenberg (MDH) parameters for the Kapvik robotic arm, essential for accurately representing the arm's mechanics.

• Modified Denavit-Hartenberg Parameters: Detailed for precise representation of the arm's mechanics.
• Transformation Matrices: Establish relationships between each reference frame, including rotation and translation components.
• Tool Reference Frame: Defined in relation to the wrist frame and adjusted based on design parameters.

• Forward Kinematics: Computed using the MDH table and transformation matrices, focusing on the relationship between the manipulator base and the wrist of the manipulator.
• Inverse Kinematics: Involves finding the set of joint angles to reach a specified position and orientation. A closed-form strategy was adopted for an algebraic solution.

• State Vector Definition: Defined in terms of joint angles and trajectories.
• Inertia Properties: Involving the correct masses for evaluating the center of mass of each link.
• Path Vectors: Define vectors connecting each reference frame to the next and with the center of mass.
• Iterative Newton-Euler Dynamic Algorithm: Used to compute linear and angular acceleration, inertia forces and torques.

• Operational Configuration: Focuses on the trajectory design from stowage to navigation, and from stowage to sample retrieval and deposition.
• Trajectory Interpolation: Employed linear functions of time with parabolic blends at specific points.
• Control System Design: Utilizing the control-law partitioning method, incorporating model-based portions and servo portions.

The project successfully analyzes the rover manipulator using detailed kinematic and dynamic models. The application of MDH parameters, transformation matrices, and trajectory generation techniques provides a comprehensive understanding of the manipulator's mechanics and control strategies.

This README is a summarized version of the detailed project report. For more in-depth information, please refer to the full report.