Embedded Files
Overview of Project
Overview of Project
This project aims at designing a robotics toolbox application using the MATLAB App Designer that accepts various required parameters as an input from the user and simulates dynamic equations and motion control plots. Upon feeding robotic arm defining criteria, the application enables performing various operations such as obtaining Denavit-Hartenberg Conventions, performing forward kinematics, two different types of motion control which are PD control with gravity compensation and Inverse Dynamics control.
Takeaway from the Project
Takeaway from the Project
The project has been one of the most practical way of learning the entire robotics concepts such as Kinematics, Dynamics, Denavit - Hartenberg Conventions, and Motion Control. Moreover, we were successfully able to learn and understand the concepts used in Motion Control of the robot. The application presents a user who if relatively unknown to the field of robotics, a clear and easy way to navigate through several intricate concepts that he/she may require to build a robotic system/arm.
Software Used
Software Used
MATLAB - Simulink
Peter Corke Robotics Toolbox
Project Completed - May, 2020
User Interface of Main menu of the application
Simulink Interface for PD control with gravity compensation
Sample Equation of Motion as obtained by the toolbox evaluation
Robotic arm Workspace using forward kinematics formula
Page updated
Google Sites
Report abuse