Created Sonntag 01 Mai 2016
Using MATLAB to animate R planar serial robot
DH-representation of a robot can be used to formulate its forward kinematics (see FkineDH):
Using the formula above, we will animate a 4-Rplanar serial robot. By aplying the formula above iteratively for every link, we can calculate the end-point for every link.
The same concept can be applied to all serial robot, with either revolute or prismatic joint.
Run example_4r_planar.m which is inside thid zip file: ./r-planar.zip
Chapter 3 of: M. W. Spong, S. Hutchinson, and M. Vidyasagar, Robot dynamics and control, 2nd ed. 2004.