Robotics package for modeling and control of robot

Overview of Project

This project aims at designing a robotics toolbox application using the MATLAB App Designer that accepts various required parameters as an input from the user and simulates dynamic equations and motion control plots. Upon feeding robotic arm defining criteria, the application enables performing various operations such as obtaining Denavit-Hartenberg Conventions, performing forward kinematics, two different types of motion control which are PD control with gravity compensation and Inverse Dynamics control.

Takeaway from the Project

The project has been one of the most practical way of learning the entire robotics concepts such as Kinematics, Dynamics, Denavit - Hartenberg Conventions, and Motion Control. Moreover, we were successfully able to learn and understand the concepts used in Motion Control of the robot. The application presents a user who if relatively unknown to the field of robotics, a clear and easy way to navigate through several intricate concepts that he/she may require to build a robotic system/arm.

Software Used

• MATLAB - Simulink

• Peter Corke Robotics Toolbox

Project Completed - May, 2020