How to form a kinematic model of a 5 dof robotic arm?

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Malu 2018-2-27

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评论： Mauricio Chicarolli 2018-12-8

How to form a kinematic model for a 5 dof robotic arm.Arm consists 5 Revolute joints.

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Birdman 2018-2-27

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Kinematic or dynamic model? Also, you prefer Lagrange or Newton method?

Malu 2018-2-27

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Lagrange method is preferred for the formation of dynamic model.How could I do it?

Birdman 2018-2-27

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Firstly, you need to obtain kinematic model. For that purpose, I suggest you to take a look at Denavit-Hartenberg parameters:

https://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters

Malu 2018-2-27

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I have modelled the serial link 5 dof robotic arm in matlab using DH table.But i was unable to form a simulink model of the dynamic model of the robotic arm using legrange equations

Birdman 2018-2-27

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In Simulink, it needs a little bit of tricky manipulations but the best solution would be doing it with MATLAB Function and other regular Simulink blocks. Can you share your model if you do not mind so that I can offer a solution?

Malu 2018-2-27