Two Joint Robot Arm

Version 1.0.0.0 (178 KB) by Ali
Simple two joint robot arm model by combining Electrical & Mechanical equations
2.4K Downloads
Updated 19 Mar 2014

View License

This is a small coursework I completed for a robotics module at uni.
It considers the electrical equations (Voltage Law) of the DC motors and the mechanical equations (Rotational Second Law) of the arms. The equations are combined by eliminating the current in equations. They are then re-written in standard ODE form. I have also attached the course notes.

Simulation is done in Simulink with arbitrary PID controller gains. There is also a script that displays the Simulink output in a simple animation.

We are learning about Intelligent Control techniques with application in robotics; look forward to implement those at some point (will definitely be done if they appear as another coursework!).

Cite As

Ali (2024). Two Joint Robot Arm (https://www.mathworks.com/matlabcentral/fileexchange/45934-two-joint-robot-arm), MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2012b
Compatible with any release
Platform Compatibility
Windows macOS Linux
Categories
Find more on Robotics System Toolbox in Help Center and MATLAB Answers
Communities

Community Treasure Hunt

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

Start Hunting!

TwoJointRobotArm/

TwoJointRobotArm/

Version Published Release Notes
1.0.0.0