机械臂- 6自由度

This is the design of the robotic arm that I used in the underwater simulator for master's thesis. Not only I designed the arm but I also estimated the dynamics for it, both hydro and static dynamics. The dynamics' functio are used in a custom MATLAB code I wrote for this project in order to simulate real life robotic arm in a marine environment. I edited the source code for Stonefish Simulator (and documented the edits in the github repo) to be able to use it accurately with MATLAB through ROS2.