Using Matlab in Robotic Kinematics

Assoc. Prof, Nguyen Truong Thinh

Department of Mechatronics - HCMUTE
 Introduction

MATLAB =
MATrix
LABoratory
Using MATLAB as a calculator
Mathematical functions
Mathematical functions
 Basic plotting
To plot a graph is plot(x,y). The vectors x = (1, 2, 3, 4, 5, 6) and y = (3, −1, 2, 4, 5, 1)
 Multiple data sets in one plot

Specifying line styles and colors

Matrix - Entering a vector
Matrix - Entering a matrix
Matrix
Array operations and Linear equations
 Symbolic Expressions
Students can use symbolic variables in expressions and as arguments of functions. You use the operators + - *
/ ^ and the built-in functions just as you use them with numerical calculations.
Workspace of 2 dof planar manipulator
P
Px  l1 cos q1   l2 cos(q1  q 2 )
Py  l1 sin q1   l2 sin(q1  q 2 )

q2 l2

l1

q1
Workspace of 2 dof planar manipulator
0  q1  2 -  q1  

0  q2  2 -/2  q2  /2
 Px   sin q1  l2 cos q 2   l3 cos(q 2  q3 ) 
l3 Py  cos q1  l2 cos q 2   l3 cos(q 2  q3 ) 
Pz  l1  l2 sin q 2   l2 sin(q 2  q3 )
q3

q2
z0 l2
l1

x0
x1
q1 y1
y0
Thanks for Hydraulics – Pneumatics
watching

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