ADrawingUserInput.m , AResolvedrate.m and A_UR5_IK_Icecream.m are the main files that make the UR5 draw from user input (through mouse), a given outline (in this case a batman logo that has been traced using bwboundary in MATLAB), or an ice-cream cone (using exact geometric equations)
ur5fwdtrans gives the forward kinematics using DH parameters
ur5fwdtwist gives the forward kinematics using twists (screw theory)
ur5inv gives the inverse kinematics using DH
Adjoi and ijack give the adjoint and inverse jacobian matrices for resolved rate control
All other functions are used to support the forward and inverse kinematics

###Note: The main functions communicate with VREP simulator via a MATLAB API. If those sections of code are ommitted, then the package can be used to operate the real UR5
The subfolders have a PDF with a link to the videos
The scene file for VREP has also been included