This repository is dedicated to the simulation and analysis of robotic mechanisms using MATLAB. It contains a variety of MATLAB scripts designed to explore different aspects of robotics, such as kinematics, Jacobian matrices, and motion simulation. These scripts are instrumental for students, educators, and researchers interested in the theoretical and practical aspects of robotic motion.
Each script and document in this repository serves a specific purpose within the realm of robotics simulation:
-
DexterJacobianMatrix.m: MATLAB script for computing the Jacobian matrix of the Dexter robot arm, which is essential for understanding the relationship between joint velocities and end-effector velocities.
-
InverseKinematicsFiveDof.m: This script is used to calculate the inverse kinematics for a robot with five degrees of freedom, allowing the determination of joint configurations that achieve desired end-effector positions.
-
QNine.m and QNineSimulation.m: These scripts are designed for running simulations of the QNine robot model, focusing on specific tasks and scenarios to visualize the robot's performance and capabilities.
-
RRR.m and RRR1.m: MATLAB scripts for simulating a basic RRR (Revolute-Revolute-Revolute) joint configuration, useful for educational demonstrations of simple articulated robotic arms.
-
Robotic_Models_MATLAB_Coding.pdf: A comprehensive guide that discusses the MATLAB coding implementations for various robotic models explored in the scripts. This document serves as the theoretical backbone for the practical applications demonstrated in the scripts.
-
robotMotionInSpace.m: A script dedicated to simulating the motion of a robot in a three-dimensional space, which helps in visualizing how robots interact with their environment.
-
stanfordExample.m: MATLAB script based on the Stanford arm example, illustrating more complex kinematic chains and their computations.
To run the scripts provided in this repository, you will need:
- MATLAB: Ensure that you have a recent version of MATLAB installed, as all scripts are written in MATLAB and utilize its various toolboxes. The Robotics System Toolbox is particularly recommended for full functionality.
To use these scripts, follow these steps:
-
Open MATLAB: Start by opening your MATLAB application.
-
Navigate to the Repository Folder: Ensure all scripts are placed in a directory that MATLAB can access.
-
Run Individual Scripts: Load and run each script individually to observe its functionality. You can modify parameters within the scripts to see how different values affect robot behavior and outcomes.
-
Refer to the PDF Documentation: For detailed explanations of the theories and calculations underlying each script, consult the
Robotic_Models_MATLAB_Coding.pdf.
Contributions to this project are welcome. You can contribute by:
- Enhancing the existing MATLAB scripts.
- Adding new scripts for different robotic configurations.
- Improving or expanding the documentation.
To contribute, fork this repository, make your changes, and submit a pull request.
This project is released under the MIT License. See the LICENSE file in the repository for more details.
For questions or support, please file an issue on the repository's issue tracker, and the maintainers will provide assistance.
This repository offers valuable resources for understanding and implementing various robotic simulations in MATLAB. Whether for academic purposes or personal interest, these scripts provide a solid foundation in robotics principles and applications.