I need help creating a robotic arm with 3D movement
3 views (last 30 days)
Show older comments
I'm trying to make this robot arm, and I finished the code with some help from my professor, but its not working? Any help is appreciated.
%clc
%clear all;
a1= 12.5;
a2 =25.5;
theta1 = pi/4;
theta2 = pi/8;
d3 =2;
%Initial position
ini_x = -9;
ini_y = 20;
ini_z = 0;
ini_q = [0.399 2.100 0];
% Time between two points in seconds
t = 0.05;
% Number of points along the path
pts = 485;
% Time segments for plotting graphs
tGraph = 0:0.05:t*pts;
%Defining the robot
L1 = Link([theta1 0 a1 0 0]);
L2 = Link([theta2 0 a2 pi 0]);
L3 = Link([0 d3 0 0 1]);
L = SerialLink([L1 L2 L3]);
L.name = 'SCARA';
%Initializing Matrices for linear and angular velocity storage
linearVs = zeros(pts,3);
angularVs = zeros(pts,3);
SCARADrawn_XYZp = zeros(pts,3);
figure(1);
%Initial Pose
T = transl(ini_x, ini_y, ini_z);
qs = L.ikine(T, [0.399 2.100 0], [1 1 1 0 0 0])
plot(L ,qs,'workspace', [-pi pi -pi pi -5 5])
qs = qs';
for i = 1:pts
%Calculating the Jacobian for the current coordinate
T = transl(contour(i,1),contour(i,2),0);
qs = L.ikine(T, qs, [1 1 1 0 0 0]);
J = jacob0(L, qs);
Jxyz = J(1:3,:);
%Calculating the required angular velocities
qd = inv(Jxyz)* [contour(i,3) contour(i,4) 0 ]';
angularVs(i,:) = qd';
xd = Jxyz*qd;
linearVs(i,:)=xd;
% Angular displacement
qs = qs' + qd*t;
figure(1);
% Plot the robot
plot(L ,qs','workspace', [-pi pi -pi pi -5 5])
% XY Plot
Tfkine = L.fkine(qs');
p = transl(Tfkine);
figure(2);
hold on;
plot(p(1), p(2))
SCARADrawn_XYZp(i,:) = p';
end
0 Comments
Answers (0)
See Also
Categories
Find more on Robotics in Help Center and File Exchange
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!