Given relationships between the cartesian outputs and the joint parameters, should be able to determine the Jacobian matrix

Succes Criteria:

Create a library that allows users to automatically calculate what they wish

Success Criteria:

• Working MATLAB script showing the forward kinematics of the manipulator
• Verification using hand calculations

Success Criteria:

• the file must be able to plot trajectories for user input of points (it should notify if a point is outside the workspace)
• there should be an option allowing users to enter via points
• there should be options for plotting velocities and accelerations as well, as well as the actual joint parameter distribution against time step
• Options include timestep, speed, accuracy of fit (i.e. cubic polynomial, etc..)

Success Criteria:

• Add a user interface for people to enter their DH parameters in a tabular format using tkinter
• User interface should act separately to in-code (notebook style) version

Success criteria:

Continuing from #1, this should be able to effectively use the forward and inverse kinematics expressions to calculate expressions for the joint parameters in terms of the cartesian parameters and fixed variables