IK Animations
Soft Robotics - MATLAB
This page showcases MATLAB scripts and animations from a soft robotics course, highlighting different approaches to inverse kinematics for soft robotic arms.
2-Link Soft Robotic Arm (Jacobian IK)
A 2-link soft robotic arm following combined elliptical and zig-zag trajectories using Jacobian-based inverse kinematics.
2-Link Soft Parallel Arm (ANFIS IK)
A parallel 2-link soft robot using trained ANFIS models to predict joint angles along a trajectory.
3-Link Soft Parallel Arm (vpasolve IK)
A 3-link soft parallel robot following a 3-dimensional trajectory, with joint angles computed using vpasolve.
Project Files
The scripts used to generate these GIFs are available on GitHub: