MATLAB: Robotic arm force feedback simulation

MATLABsimulationsimulink

hi every one

I am trying to simulate Robot with active force control like robot in this video %22http://www.youtube.com/watch?v=4Ro6rQbePqE%22 if any one can help me or give me any tutorial

thank you all

Best Answer

This is very close to that you need:

http://www.mathworks.com/help/physmod/sm/examples_v2/computing-actuator-torques-using-inverse-dynamics.html

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MATLAB: Robotics: manipulators arm

 A_02 = simplify( A_01(q1)*A_12(q2));

That returns an array, not a function handle or symbolic function.

 A_03 = simplify(A_02(q2)*A_23(d3));

With A_02 being an array, q2 is attempting to index it.

A_02 involves two variables, so I cannot predict which variable you want q2 to substitute for (function handle case.)

MATLAB: How to give the effector a desired trajectory using simmechanics bloks.

As long as you're using R2013b and later (if you're using the newer Second Generation SimMechanics), you can directly prescribe motion trajectories on joints. This blog post talks about it quite well:

http://blogs.mathworks.com/seth/2013/11/13/motion-actuation-in-simmechanics-r2013b/

There is also a good robotics example in the product. You can enter sm_welding_robot in the command window or look at this link:

http://www.mathworks.com/help/physmod/sm/examples/computing-actuator-torques-using-inverse-dynamics.html

- Sebastian

Best Answer

Related Solutions

MATLAB: Robotics: manipulators arm

MATLAB: How to give the effector a desired trajectory using simmechanics bloks.

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