GROUP MEMBERS

Tawanda R Munyanyi : H180163Z

Tino Mdhara : H180690F

Nyaradzai Mapfumo : H180488Y

EEE421 ROBOTICS LAB5

QUESTION

1. Using the Simulink (MATLAB) package, model cubic polynomial trajectory planning

equations of a revolute joint.

2. Plot the angular position, velocity and acceleration against time.

NB* Use initial and final parameters of your choice (initial angle, final angle, time taken to move

from initial angle to final angle) [20]

INTRODUCTION

A 3D robot does have movements in the 3 axes, i.e. the x, y and z plane.

INSTRUCTIONS

 Open MATLAB Simulink.

 Add the joint actuator, world, base and all other blocks needed.

 Run the simulation.

 Observe the following:

(i). angular position against time

(ii). velocity against time

(iii). acceleration against time

RESULTS AND DISCUSSION

Diagram below shows the designed model.

All 3 graphs were plotted as shown:
CONCLUSION

We were unable to create the 3D moving robot. As a result, we only focused on the predicted

outcomes of what it was intended to perform.