Take your robotics learning and simulation skills to the next level with this complete MATLAB-based manipulators package, covering 2-DOF to 6-DOF robots (including the popular UR5 6-DOF manipulator) with full trajectory tracking using PID control. Perfect for students, engineers, and hobbyists aiming to explore manipulator kinematics, control, and simulation.

What’s Included:

1. Robot Models

• 2-DOF planar manipulator – ideal for basic learning of forward & inverse kinematics.
• 3-DOF manipulator – intermediate planar/3D robot simulation.
• 4-DOF manipulator – with elbow and wrist modeling.
• 5-DOF manipulator – realistic 3D configuration with perpendicular wrist link.
• 6-DOF UR5 manipulator – industry-standard robot, fully modeled.

2. Kinematic Modeling

• Forward Kinematics (FK) – compute end-effector positions for all DOF robots.
• Inverse Kinematics (IK) – analytical solutions with elbow-up configuration.
• Jacobian matrices – numerical and analytical calculation for velocity and control analysis.

3. Control System

• PID trajectory tracking – smooth, real-time joint control for end-effector trajectories.
• Customizable gains – tune Kp, Ki, Kd for precise performance.
• Trajectory types supported:
  • Circle
  • Infinity (figure-eight)
  • Rectangle

4. MATLAB Simulation & Animation

• Clear, high-quality 3D visualization of manipulators and end-effector paths.
• Color-coded joints and links for better understanding of motion.
• Real-time trajectory tracking visualization.
• Export simulation as MP4 video.

5. Files Included

• .m scripts for all manipulators (2-6 DOF)
• Fully functional PID controllers for each robot
• Trajectory generation scripts (circle, infinity, rectangle)
• Simulation videos (optional export)
• Well-commented code – ready to run and modify

6. Learning & Practical Benefits

• Understand multi-DOF robot kinematics.
• Learn PID-based motion control for serial manipulators.
• Experiment with trajectory planning and tracking.
• Ideal for projects, research, and teaching purposes.

Why This Package?

• Ready-to-run MATLAB codes – no additional toolboxes required (basic MATLAB sufficient).
• Compatible for all MATLAB Versions
• Covers all manipulator configurations from beginner (2-DOF) to advanced (UR5 6-DOF).
• Fully detailed, commented, and organized for learning and practical use.

Perfect For: Students, engineers, robotics enthusiasts, research projects, MATLAB simulation, industrial robot education, and automated control learning.