├── ABBKinematics ├── ABBFkinematicsMdh.m ├── ABBFkinematicsSdh.m ├── ABBIkineMdh.m ├── ForwardKinematicsMDH.m ├── ForwardKinematicsSDH.m └── JacobAnalyticalMethod.m ├── DoubleArm ├── DoubleArm_UR_FK.m └── DoubleArm_puma560_FK.m ├── DynamicKinematics ├── SixDofsNewtonEuler.m └── ThreeDofDynamics.m ├── README.md ├── TrajectoryPlanning ├── Cubic_spline_test.m ├── SingleJointSpaceTrajectory.m ├── SingleJointSpaceTrajectory_2.m ├── SingleJointSpaceTrajectory_3.m ├── crout.m ├── cubicSpline_1.m ├── cubicSpline_2.m ├── cubicSpline_3.m └── cubicSpline_4.m └── five_dof ├── CharacterLine.m ├── ContinueSpaceLine_Triangular_pick_and_place.m ├── ContinueSpaceLine_gantry_pick_and_place.m ├── Gauss_lie.m ├── Gauss_shunxu.m ├── Interpolation_test.m ├── MDHTrans.m ├── Normalization.m ├── Normalization_S.m ├── PathSegmentTrans.m ├── RPY_angle.m ├── RPY_rot.m ├── STrajectoryPara.m ├── S_acceleration.m ├── S_jerk.m ├── S_position.m ├── S_velocity.m ├── SpaceCircle.m ├── SpaceCircle_Q.m ├── SpaceLine.m 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