sergioskar / robotic-arm

Kinematics, Dynamics, Trajectory planning and Control of a 4 degrees of freedom robotic arm with matlab robotic toolbox

Robotic-Arm

The goal of the project was to study the behaviour of a 4-dof robotic arm

To simulate the robotic arm , we used Matlab with Corke's robotic toolbox.

Model the robotic arm

The first step was the modeling of the robot in the simulated environment and the definition of the necessary parameters ( links between motors, masses , inertias etc.)

Kinematics

After modeling the robot, we solved the forward kinematics by calculating the Denavit-Hartenberg paremeters

Link	θi	di	ai	αi
1	θ1	0	0	-90°
2	θ2	0	0	90°
3	θ3	0	0	0
4	0	d4	0	0

Inverse Kinematics

By expressing the parameters of the robot as a function of the Cartesian coordinates we get the following equations:

Path Planning

To make the end-effector move in a circular path during a specific amount of time , we have to define at least 9 points to form the path and then direct the arm into them with a specified order.

Of course before we actualy move the robot, we have to solve the robot's Dynamics.

Dynamics

The formation of the Euler-Lagrange equation will enable us to find the actual forces we need to apply in the motors, to force the arm move in a certain way.

Control

Finally to optimize the movement of the robot into the specified path, it is essential to add a control mechanism. We choosed ato do that using feedforward-torque control.

After applying the control, we tried to move the robot in a circular path and measured the difference between the desired path and the actual movement.

robotic-arm's Issues

What is these parameter?

I confuse that what is these parameter do in a ODE control function?
CF=1;
R=0.003;
J=0.01;
B=0;
Thank

Unable To Run + Undefined Functions (GenQ)

Hello. I attempted to run your boilerplate files in this order, assuming the ordering of explained processes and methods within README.md :

• robotDef.m
• Forward_Kinematics.m
• Inverse_Kinematics.m
• Circle_Path.m

Your index for i within circleTraj (line 60), which Circle_Path depends on, has an out-of-bounds error. Moreover, the function "GenQ" in Torque.m is undefined.

If I am in error of execution instructions, can you update the README.md to clarify? Otherwise, can you push fixes to main? Thank you.