Robotic Manipulators

This curriculum module contains interactive examples that teach fundamental concepts of robotic manipulators.

Robotic Manipulators

or

Curriculum Module

Created with R2022b. Compatible with R2022b and later releases.

Information

This curriculum module contains interactive MATLAB® live scripts and Simscape™ models that teach the fundamental concepts of robotic manipulators (robot arms).

Background

You can use these live scripts as demonstrations in lectures, class activities, or interactive assignments outside class. Robotic manipulators covers topics such as point translations/rotations, transformation matrices, DH parameters, forward kinematics, and inverse kinematics.

The instructions inside the live scripts will guide you through the exercises and activities. Get started with each live script by running it one section at a time. To stop running the script or a section midway (for example, when an animation is in progress), use the Stop button in the RUN section of the Live Editor tab in the MATLAB Toolstrip.

Contact Us

Solutions are available upon instructor request. Contact the MathWorks teaching resources team if you would like to request solutions, provide feedback, or if you have a question.

Prerequisites

This module assumes knowledge of basic linear algebra and coordinate systems. There is minimal MATLAB and Simscape knowledge required for these scripts, but you could use MATLAB Onramp and Simscape Onramp as a resource to acquire familiarity with MATLAB syntax, live scripts, and models.

Getting Started

Accessing the Module

On MATLAB Online:

Use the link to download the module. You will be prompted to log in or create a MathWorks account. The project will be loaded, and you will see an app with several navigation options to get you started.

On Desktop:

Download or clone this repository. Open MATLAB, navigate to the folder containing these scripts and double-click on RoboticManipulators.prj. It will add the appropriate files to your MATLAB path and open an app that asks you where you would like to start.

Ensure you have all the required products (listed below) installed. If you need to include a product, add it using the Add-On Explorer. To install an add-on, go to the Home tab and select Add-Ons > Get Add-Ons.

Products

MATLAB is used throughout. Tools from Robotics System Toolbox™, Simulink®, Simscape™, and Simscape Multibody™ are used frequently as well.

Scripts

If you are viewing this in a version of MATLAB prior to R2023b, you can view the learning outcomes for each script here

CoordinateSystemTransformations.mlx

	In this script, students will...	Academic disciplines
	• Explore the importance of coordinate frames • Learn the utility of translation and rotation matrices • Apply transformation matrices to move between coordinate frames	• Mechanical Engineering • Electrical Engineering • Mathematics

DHParameters.mlx

	In this script, students will...	Academic disciplines
	• Acquire knowledge of Standard and Modified DH Parameters • Create a transformation matrix with DH parameters • Construct a robot frame with DH parameters	• Mechanical Engineering • Electrical Engineering • Mathematics

ForwardKinematics.mlx

	In this script, students will...	Academic disciplines
	• Perform forward kinematics using DH parameters • Modify joint angles to visualize a robot's movement • Practice unbounded trajectory planning for a simulated robot	• Mechanical Engineering • Electrical Engineering • Mathematics

InverseKinematics.mlx

	In this script, students will...	Academic disciplines
	• Learn the limitations of inverse kinematics approaches • Visualize an inverse kinematic solution for a 6DOF robot • Practice trajectory planning with constraints for a simulated robot	• Mechanical Engineering • Electrical Engineering • Mathematics

License

The license for this module is available in the LICENSE.md.

Related Courseware Modules

Applied Linear Algebra: Robotics

	Available on: GitHub

Virtual Hardware and Labs for Controls

	Available on: GitHub

Feel free to explore our other modular courseware content.

Educator Resources

• Educator Page

Contribute

Looking for more? Find an issue? Have a suggestion? Please contact the MathWorks teaching resources team. If you want to contribute directly to this project, you can find information about how to do so in the CONTRIBUTING.md page on GitHub.

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