Hi Claude,
To make your 3R robot's joints rotate relative to each other in Simulink,
- First remove the existing 6DOF joints that connect to the world frame.
- Replace them with revolute joints at the points of articulation between the robot's links.
- Establish a hierarchy where each link is connected to the previous one, starting from the base.
- Configure the revolute joints with appropriate parameters such as axis of rotation and motion limits.
- Connect the joints to the corresponding solid blocks representing the robot's links, ensuring they form a kinematic chain.
- Simulate the model to test and adjust as necessary, then add actuators and sensors if required, and fine-tune the physical parameters to match the real robot.
Hope this helps!
