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Robotic Arm picking and placing was a group project. Group members where Xinjang Yang; Anshul Sungra and Haonan Peng. Simulation Video can be found here: https://www.youtube.com/watch?v=65FFMoTsIAQ
Robot manipulators are articulated mechanical systems composed of links connected by joints. The dynamic equations of a robot manipulator can be obtained from Newton's equations of motion or, via Lagrange's equations. Here we considered a robot manipulator of 2 degrees of freedom (2-DOF) using the Lagrangian approach.
This optimization project aims to find the best trajectory of a 2-link robotic arm to achieve minimum joint torque over time when lifting objects up from ground
I have used two different approaches to this project. One is using VB .Net and Arduino based and the other one is using Matlab and Arduino support package.
A robotic arm with RRRPRR configuration(6 degrees of freedom) .Denavit Hartenberg matrices are used for movement.Newton-Raphson method used for solving Inverse Kinematics.
MATLAB functions for quickly deriving the Euler-Lagrange equations for your robotic system, then simulating the system while testing your controllers and animating the simulations afterwards