In these files, one can find the forward and inverse kinematics for 3-RRR PPM, also the workspace. Beside that, you can find the dexterity Index DI and Manipulability Index for the 3-RRR PPM.
If you are going to use these file, please cite this paper:
" Modeling and Performance Analysis of Planar Parallel Manipulators "
Feel free to contact me for more details.
Amr Abo Salem (2019). 3-RRR Planar Parallel Manipulator (https://www.mathworks.com/matlabcentral/fileexchange/73310-3-rrr-planar-parallel-manipulator), MATLAB Central File Exchange. Retrieved .