Simulation and Manipulation of a RPP Robot using Matlab

Coursework work project for Modelling and Control of Robots

Objective

The objective of the project is to employ trajectory calculation and workspace plotting of a RPP robot using robotic toolbox in MATLAB.

Concepts

1. Forward and Inverse Kinematics
2. Trajectory Planning
3. DH Table

Instructions to Run the Program

1. Run the main.m file in the folder "MATLAB Code"
2. Enter the Initial Coordinates in the format (x1,y1,z1)
3. Enter the Next Coordinates in the format (x2,y2,z2)
4. The Trajectory will be generated and animation will be shown
5. The joint variables trajectory, velocity and acceleration graphs will be shown.
6. Furthur trajectory points can be entered if needed.
7. Press "Ctrl+C" to terminate the program.

DH Table for the Mechanism

Links	Theta	d	a	Alpha
1	theta1	5	0	0
2	0	d2	0	-pi/2
3	0	d3	0	0

Results

The workspace of the Robot can be seen below :

The Simulation for a small workspace can be seen below :

The Simulation for a larger workspace can be seen below :

Joint Variables Trajectory, Velocity and Acceleration Graphs

Small Movement

Large Movement

Simulation Video

The simulation video for this project can be found in this Link.