Designing Robot Manipulator Algorithms

バージョン 2.5.0.0 (1.01 MB) 作成者: MathWorks Student Competitions Team
MATLAB and Simulink files for modeling and simulation of ROBOTIS OpenManipulator

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更新 2019/10/15

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This submission contains all the files used for the MATLAB and Simulink Robotics Arena videos, "Designing Robot Manipulator Algorithms" and "Controlling Robot Manipulator Joints".

The files include the following:
- A MATLAB script demonstrating how to implement inverse kinematic algorithms for a robot manipulator
- Simulink models of torque control of a robot manipulator using configuration-space and task-space controllers
- Simulink model of a manipulator using the derived inverse kinematics algorithm to pick up an object and follow a trajectory
- Simulink model of a manipulator using inverse kinematics to catch an object in the air that demonstrates possible next steps and the integration of perception algorithms

All files necessary to run the scripts and models, including CAD files and URDF files are either contained within the submission or downloaded using the startup script provided. You must have command-line Git installed to automatically download the robot description files.

For convenience, local copies of the Simscape Multibody Multiphysics Library and Simscape Multibody Contact Forces Library have been included with this submission. If you would like to install the latest version of these libraries, you can find them below:

* Simscape Multibody Multiphysics Library: https://www.mathworks.com/matlabcentral/fileexchange/37636-simscape-multibody-multiphysics-library
* Simscape Multibody Contact Forces Library: https://www.mathworks.com/matlabcentral/fileexchange/47417-simscape-multibody-contact-forces-library

引用

MathWorks Student Competitions Team (2022). Designing Robot Manipulator Algorithms (https://github.com/mathworks-robotics/designing-robot-manipulator-algorithms), GitHub. 取得済み .

MATLAB リリースの互換性
作成: R2019b
R2019b 以降と互換性あり
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