Inverse Kinematics and Velocity Kinematics of a 3DOF SCARA

Version 1.0.0 (94,2 KB) von Rzi Abbas
Models 3DOF SCARA Robot, drive it on workspace trapezoidal velocity profile using inverse kinematics and solves velocity kinematics as well.
0.0
(0)
50 Downloads
Aktualisiert 17. Apr 2025

Lizenz anzeigen

These files model a 3DOF SCARA robot, generate trapezoidal velocity profile trajectory and drives the robot using inverse kinematics on it. Moreover, velocity kinematics are implemented that calculates the Jacobian and figures the end-effector velocity and compares it with the reference velocity.
How to run:
1- Run the 'start.m' file to load the robot's rigid body tree and waypoint matrix.
2- Run the SLab3.slx to run the simulation.
Make sure all the files are placed in the same working folder.

Zitieren als

Rzi Abbas (2025). Inverse Kinematics and Velocity Kinematics of a 3DOF SCARA (https://de.mathworks.com/matlabcentral/fileexchange/180820-inverse-kinematics-and-velocity-kinematics-of-a-3dof-scara), MATLAB Central File Exchange. Abgerufen.

Kompatibilität der MATLAB-Version
Erstellt mit R2024b
Kompatibel mit allen Versionen
Plattform-Kompatibilität
Windows macOS Linux
Tags Tags hinzufügen

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Version Veröffentlicht Versionshinweise
1.0.0