Robot Modeling & Kinematics

Build manipulator models correctly and validate every kinematic solution.

When to Use

• Any task that requires a robot model in MATLAB (even if the goal is downstream: animation, pick-and-place, trajectory, motion planning)
• User mentions a specific manipulator by name (UR5e, KUKA iiwa14, Panda, Kinova Gen3, etc.)
• Loading, building, or importing a robot model
• Simulating, animating, or visualizing a manipulator
• Tasks involving lifting, reaching, picking, placing, or grasping
• Adding visual meshes or collision geometry
• Attaching a gripper to a manipulator
• Choosing between inverseKinematics vs generalizedInverseKinematics
• Validating IK/GIK solutions (exit flags, position error, joint continuity)

When NOT to Use