Simple 3-D Manipulator Implementation
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I am looking to implement a very simple manipulator arm (say 3DOF). So far, I have just used the example in the rigidBodyTree documentation to display my simple manipulator arm. Now, I want to add some random 3-D waypoints so it can follow a trajectory to a specific end point, and I want to show the animation. How do i accomplish this?
I have no prior experience with MATLAB or mechanics etc. so am looking for the simplest toolsets. I know there is the Robotics System toolbox, and I have heard of the Peter Corke one. I have limited time. Which will be the best option? (I am using the online version of MATLAB.)
Thanks!
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Karsh Tharyani
2021-1-27
It is great to hear from you and I am glad to see your interest in the Robotics System Toolbox. As a starting guide, you can refer to the following blog post https://blogs.mathworks.com/racing-lounge/2019/11/06/robot-manipulator-trajectory/
The Robotics System Toolbox provides several trajectory planning functions which can help in your use case. It sounds like you want your end-effector to follow a certain set of cartesian waypoints. This is commonly referred to as a trajectory in Task Space. Hence, given a certain set of end-effector poses, you would have to use inverse kinematics (IK) to translate this pose to a joint configuration of your robot (this is a row or column vector specifying the position of each revolute or prismatic joint on your robot). The downside with Task Space trajectories is that you call IK for every end-effector pose - and if this is not analytical, the computational times for a trajectory can be high.
You can read about the IK solvers in Robotics System Toolbox here https://www.mathworks.com/help/robotics/ref/inversekinematics-system-object.html
I hope that helps.
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Karsh Tharyani
2021-2-1
编辑:Karsh Tharyani
2021-2-1
If you want to add visual meshes to your robot’s bodies- please refer to “ addVisual ” function of a “rigidBody”. The robot in the blog post was imported via a URDF which also defines the meshes for the individual bodies.
Hope that helps,
Karsh
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