In this submission we model a small three-degrees of freedom(DOF) robotic arm which was purchased from www.roboholicmaniacs.com in MATLAB Simscape. The actuators used in this arm are stepper motors. The main inputs to this 3 DOF arm are the torque angles to these actuators which will output the x,y and z position of the end effector or the gripper.
These codes are part of Chapter 3 in the book:
"Digital Twin Development and Deployment on the Cloud" Elsevier, 2020, Nassim Khaled, Bibin Pattel and Affan Siddiqui
Nassim Khaled (2022). Modeling and Simulation of Robotic Arm Using Simscape (https://www.mathworks.com/matlabcentral/fileexchange/74335-modeling-and-simulation-of-robotic-arm-using-simscape), MATLAB Central File Exchange. Retrieved .
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