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Serial Robot

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.

Downloads


Run example_4r_planar.m which is inside thid zip file: ./r-planar.zip

References


Chapter 3 of: M. W. Spong, S. Hutchinson, and M. Vidyasagar, Robot dynamics and control, 2nd ed. 2004.