├── Bartender Robot.pdf ├── Code ├── Checkpoints │ ├── checkpoint1.mat │ ├── checkpoint10.mat │ ├── checkpoint10_1.mat │ ├── checkpoint11.mat │ ├── checkpoint11_1.mat │ ├── checkpoint12.mat │ ├── checkpoint13.mat │ ├── checkpoint14.mat │ ├── checkpoint15.mat │ ├── checkpoint16.mat │ ├── checkpoint17.mat │ ├── checkpoint18.mat │ ├── checkpoint19.mat │ ├── checkpoint2.mat │ ├── checkpoint3.mat │ ├── checkpoint4.mat │ ├── checkpoint5.mat │ ├── checkpoint6.mat │ ├── checkpoint7.mat │ ├── checkpoint8.mat │ └── checkpoint9.mat ├── CoppeliaSim │ └── ABB_IRB140.ttt ├── CoppeliaSimAPI.m ├── Functions │ ├── DH.m │ ├── EndEffAcc.m │ ├── Jacobian.m │ ├── axisAngle.m │ ├── curv.m │ ├── fkine.m │ ├── getIK.m │ ├── get_Orientation.m │ ├── get_q1.m │ ├── get_q2.m │ ├── get_q3.m │ ├── plotWorkspace.m │ ├── poli5.m │ ├── remApi.m │ ├── remoteApi.dll │ ├── remoteApiProto.m │ ├── shakeBeer.m │ ├── slprj │ │ ├── sl_proj.tmw │ │ └── stm32 │ │ │ ├── _sharedutils │ │ │ └── shared_file.dmr │ │ │ └── serialSTM │ │ │ └── tmwinternal │ │ │ ├── CompileInfo.xml │ │ │ └── minfo.mat │ ├── solveIK.m │ ├── trajCircle.m │ ├── trajPlan1.m │ └── trajPlan2.m ├── Results │ ├── AngularPosition.png │ ├── AngularVelocity.png │ ├── EndEffector.png │ ├── FrameShake.png │ ├── RoboticTool.png │ └── Workspace.png ├── TrajectoryPlanningABB.m └── createRobot.m ├── Images ├── ABBIRB.png ├── Image1.gif ├── Image1.png ├── bottle.png ├── dhconvention.png ├── dhschematizzato.png ├── ik1.png ├── ik2.png ├── logoRobotics.png └── workspace.png ├── README.md └── References └── ProductSpecificationsABB.pdf /Bartender Robot.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/venezia-antonio/Trajectory-Planning-for-ABB-IRB140/HEAD/Bartender Robot.pdf -------------------------------------------------------------------------------- /Code/Checkpoints/checkpoint1.mat: -------------------------------------------------------------------------------- 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