This MATLAB project demonstrates advanced kinematic modeling and trajectory tracking for the UR5 robot. It includes:

• Forward & Inverse Kinematics using DH parameters

• Newton-Raphson IK Solver with damped least-squares for stability

• Trajectory Tracking: Circle, Infinity (∞), and Rectangle paths

• Sub-Millimeter Accuracy for precise end-effector motion

• 3D Visualization: Real-time robot animation with SE(3) end-effector axes

• Interactive Parameters: Adjust trajectory size, speed, and tool orientation

• Joint Positions Logging for analysis

• Ready-to-Run MATLAB Scripts

Perfect for:

• Robotics students & educators

• Mechatronics & automation engineers

• MATLAB simulation enthusiasts

• Research & project demonstrations

Included Files:

• UR5_Trajectory_Tracking.m → main file

• Core functions: fk_ur5.m, jacobian_num.m, joint_positions.m, dh_std.m

System Requirements:

• MATLAB R2020a or later

• No extra toolboxes required