{"id":21478382,"url":"https://github.com/mathworks-teaching-resources/robotic-manipulators","last_synced_at":"2025-07-15T11:30:52.104Z","repository":{"id":164129927,"uuid":"639579469","full_name":"MathWorks-Teaching-Resources/Robotic-Manipulators","owner":"MathWorks-Teaching-Resources","description":"This curriculum module contains interactive examples that teach fundamental concepts of robotic manipulators.","archived":false,"fork":false,"pushed_at":"2024-10-24T20:22:51.000Z","size":22091,"stargazers_count":12,"open_issues_count":0,"forks_count":3,"subscribers_count":2,"default_branch":"release","last_synced_at":"2024-10-24T21:13:45.993Z","etag":null,"topics":["courseware","cwm","electrical-engineering","manipulator","matlab","mechanical-engineering","robotics","simulink"],"latest_commit_sha":null,"homepage":"","language":"MATLAB","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/MathWorks-Teaching-Resources.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":"CONTRIBUTING.md","funding":null,"license":"LICENSE.md","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":"SECURITY.md","support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2023-05-11T18:55:09.000Z","updated_at":"2024-10-24T19:47:26.000Z","dependencies_parsed_at":"2024-10-24T06:55:43.475Z","dependency_job_id":"acbdbbc1-ffca-43f4-862c-a1e32306c83a","html_url":"https://github.com/MathWorks-Teaching-Resources/Robotic-Manipulators","commit_stats":null,"previous_names":[],"tags_count":8,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MathWorks-Teaching-Resources%2FRobotic-Manipulators","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MathWorks-Teaching-Resources%2FRobotic-Manipulators/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MathWorks-Teaching-Resources%2FRobotic-Manipulators/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MathWorks-Teaching-Resources%2FRobotic-Manipulators/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/MathWorks-Teaching-Resources","download_url":"https://codeload.github.com/MathWorks-Teaching-Resources/Robotic-Manipulators/tar.gz/refs/heads/release","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":226033461,"owners_count":17563168,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["courseware","cwm","electrical-engineering","manipulator","matlab","mechanical-engineering","robotics","simulink"],"created_at":"2024-11-23T11:17:57.300Z","updated_at":"2024-11-23T11:17:57.891Z","avatar_url":"https://github.com/MathWorks-Teaching-Resources.png","language":"MATLAB","funding_links":[],"categories":[],"sub_categories":[],"readme":"\n\u003ca name=\"T_DEF03274\"\u003e\u003c/a\u003e\n# \u003cspan style=\"color:rgb(213,80,0)\"\u003eRobotic Manipulators\u003c/span\u003e\n\u003ca name=\"H_053613DF\"\u003e\u003c/a\u003e\n\n[![View on File Exchange](https://www.mathworks.com/matlabcentral/images/matlab-file-exchange.svg)](https://www.mathworks.com/matlabcentral/fileexchange/130124-robotic-manipulators) or [![Open in MATLAB Online](https://www.mathworks.com/images/responsive/global/open-in-matlab-online.svg)](https://matlab.mathworks.com/open/github/v1?repo=MathWorks-Teaching-Resources/Robotic-Manipulators\u0026project=RoboticManipulators.prj)\n\n![MATLAB Versions Tested](https://img.shields.io/endpoint?url=https%3A%2F%2Fraw.githubusercontent.com%2FMathWorks-Teaching-Resources%2FRobotic-Manipulators%2Frelease%2FImages%2FTestedWith.json)\n\n**Curriculum Module**\n\n_Created with R2022b. Compatible with R2022b and later releases._\n\n# Information\n\nThis curriculum module contains interactive [MATLAB® live scripts](https://www.mathworks.com/products/matlab/live-editor.html) and [Simscape™](https://www.mathworks.com/products/simscape.html) models that teach the fundamental concepts of robotic manipulators (robot arms).\n\n\u003ca name=\"H_F00D98E4\"\u003e\u003c/a\u003e\n## Background\n\nYou can use these live scripts as demonstrations in lectures, class activities, or interactive assignments outside class. Robotic manipulators covers topics such as point translations/rotations, transformation matrices, DH parameters, forward kinematics, and inverse kinematics.\n\n\nThe instructions inside the live scripts will guide you through the exercises and activities. Get started with each live script by running it one section at a time. To stop running the script or a section midway (for example, when an animation is in progress), use the \u003cimg src=\"Images/EndIcon.png\" width=\"19\" alt=\"EndIcon.png\"\u003e Stop button in the **RUN** section of the **Live Editor** tab in the MATLAB Toolstrip.\n\n## Contact Us\n\nSolutions are available upon instructor request. Contact the [MathWorks teaching resources team](mailto:onlineteaching@mathworks.com) if you would like to request solutions, provide feedback, or if you have a question.\n\n\u003ca name=\"H_30BC7141\"\u003e\u003c/a\u003e\n## Prerequisites\n\nThis module assumes knowledge of basic linear algebra and coordinate systems. There is minimal MATLAB and Simscape knowledge required for these scripts, but you could use [MATLAB Onramp](https://matlabacademy.mathworks.com/details/matlab-onramp/gettingstarted) and [Simscape Onramp](https://matlabacademy.mathworks.com/details/simscape-onramp/simscape) as a resource to acquire familiarity with MATLAB syntax, live scripts, and models.\n\n\u003ca name=\"H_330E72C3\"\u003e\u003c/a\u003e\n## Getting Started\n### Accessing the Module\n### **On MATLAB Online:**\n\nUse the [\u003cimg src=\"Images/OpenInMO.png\" width=\"136\" alt=\"OpenInMO.png\"\u003e](https://matlab.mathworks.com/open/github/v1?repo=MathWorks-Teaching-Resources/Robotic-Manipulators\u0026project=RoboticManipulators.prj) link to download the module. You will be prompted to log in or create a MathWorks account. The project will be loaded, and you will see an app with several navigation options to get you started.\n\n### **On Desktop:**\n\nDownload or clone this repository. Open MATLAB, navigate to the folder containing these scripts and double-click on [RoboticManipulators.prj](https://github.com/MathWorks-Teaching-Resources/Robotic-Manipulators/blob/release/RoboticManipulators.prj). It will add the appropriate files to your MATLAB path and open an app that asks you where you would like to start. \n\n\nEnsure you have all the required products ([listed below](#H_E850B4FF)) installed. If you need to include a product, add it using the Add-On Explorer. To install an add-on, go to the **Home** tab and select  \u003cimg src=\"Images/AddOnsIcon.png\" width=\"16\" alt=\"AddOnsIcon.png\"\u003e **Add-Ons** \u003e **Get Add-Ons**. \n\n\u003ca name=\"H_E850B4FF\"\u003e\u003c/a\u003e\n## Products\n\n *MATLAB* is used throughout. Tools from Robotics System Toolbox™, Simulink®, Simscape™, and Simscape Multibody™ are used frequently as well. Statistics and Machine Learning Toolbox™ is used specifically for the [range](https://www.mathworks.com/help/releases/R2024b/stats/range.html?overload=range+false) function. Image Processing Toolbox™ is used specifically for the [padarray](https://www.mathworks.com/help/images/ref/padarray.html) function.\n\n\u003ca name=\"H_E8C62B23\"\u003e\u003c/a\u003e\n# Scripts\n\n *If you are viewing this in a version of MATLAB prior to R2023b, you can view the learning outcomes for each script* [*here*](https://www.mathworks.com/matlabcentral/fileexchange/130124-robotic-manipulators)\n\n\u003ca name=\"H_BC8955C0\"\u003e\u003c/a\u003e\n## [**CoordinateSystemTransformations.mlx**](https://matlab.mathworks.com/open/github/v1?repo=MathWorks-Teaching-Resources/Robotic-Manipulators\u0026project=RoboticManipulators.prj\u0026file=CoordinateSystemTransformations.mlx)\n|  | **In this script, students will...** | **Academic disciplines**  |\n| :-- | :-- | :-- |\n| \u003cimg src=\"Images/image_3.png\" width=\"171\" alt=\"image_3.png\"\u003e | \u003cbr\u003e• Explore the importance of coordinate frames \u003cbr\u003e• Learn the utility of translation and rotation matrices \u003cbr\u003e• Apply transformation matrices to move between coordinate frames | \u003cbr\u003e• Mechanical Engineering \u003cbr\u003e• Electrical Engineering \u003cbr\u003e• Mathematics  |\n\n\u003ca name=\"H_17056DF7\"\u003e\u003c/a\u003e\n## [**DHParameters.mlx**](https://matlab.mathworks.com/open/github/v1?repo=MathWorks-Teaching-Resources/Robotic-Manipulators\u0026project=RoboticManipulators.prj\u0026file=DHParameters.mlx)\n|  | **In this script, students will...** | **Academic disciplines**  |\n| :-- | :-- | :-- |\n| \u003cimg src=\"Images/image_4.png\" width=\"171\" alt=\"image_4.png\"\u003e | \u003cbr\u003e• Acquire knowledge of Standard and Modified DH Parameters \u003cbr\u003e• Create a transformation matrix with DH parameters \u003cbr\u003e• Construct a robot frame with DH parameters | \u003cbr\u003e• Mechanical Engineering \u003cbr\u003e• Electrical Engineering \u003cbr\u003e• Mathematics  |\n\n\u003ca name=\"H_93FB3755\"\u003e\u003c/a\u003e\n## [**ForwardKinematics.mlx**](https://matlab.mathworks.com/open/github/v1?repo=MathWorks-Teaching-Resources/Robotic-Manipulators\u0026project=RoboticManipulators.prj\u0026file=ForwardKinematics.mlx)\n|  | **In this script, students will...** | **Academic disciplines**  |\n| :-- | :-- | :-- |\n| \u003cimg src=\"Images/image_5.png\" width=\"171\" alt=\"image_5.png\"\u003e | \u003cbr\u003e• Perform forward kinematics using DH parameters \u003cbr\u003e• Modify joint angles to visualize a robot's movement \u003cbr\u003e• Practice unbounded trajectory planning for a simulated robot | \u003cbr\u003e• Mechanical Engineering \u003cbr\u003e• Electrical Engineering \u003cbr\u003e• Mathematics  |\n\n\u003ca name=\"H_D4F9A4D1\"\u003e\u003c/a\u003e\n## [**InverseKinematics.mlx**](https://matlab.mathworks.com/open/github/v1?repo=MathWorks-Teaching-Resources/Robotic-Manipulators\u0026project=RoboticManipulators.prj\u0026file=InverseKinematics.mlx)\n|  | **In this script, students will...** | **Academic disciplines**  |\n| :-- | :-- | :-- |\n| \u003cimg src=\"Images/image_6.png\" width=\"171\" alt=\"image_6.png\"\u003e | \u003cbr\u003e• Learn the limitations of inverse kinematics approaches \u003cbr\u003e• Visualize an inverse kinematic solution for a 6DOF robot \u003cbr\u003e• Practice trajectory planning with constraints for a simulated robot | \u003cbr\u003e• Mechanical Engineering \u003cbr\u003e• Electrical Engineering \u003cbr\u003e• Mathematics  |\n\n\u003ca name=\"H_F61733D7\"\u003e\u003c/a\u003e\n# License\n\nThe license for this module is available in the [LICENSE.md](https://github.com/MathWorks-Teaching-Resources/Robotic-Manipulators/blob/release/LICENSE.md).\n\n\u003ca name=\"H_3DE08377\"\u003e\u003c/a\u003e\n# Related Courseware Modules\n\u003ca name=\"H_868F5748\"\u003e\u003c/a\u003e\n## [Applied Linear Algebra: Robotics](https://www.mathworks.com/matlabcentral/fileexchange/136364-applied-linear-algebra)\n| \u003cimg src=\"Images/image_7.png\" width=\"171\" alt=\"image_7.png\"\u003e | **Available on:** \u003cbr\u003e[\u003cimg src=\"Images/OpenInFX.png\" width=\"91\" alt=\"OpenInFX.png\"\u003e](https://www.mathworks.com/matlabcentral/fileexchange/136364-applied-linear-algebra) \u003cbr\u003e[\u003cimg src=\"Images/OpenInMO.png\" width=\"136\" alt=\"OpenInMO.png\"\u003e](https://matlab.mathworks.com/open/github/v1?repo=MathWorks-Teaching-Resources/Applied-Linear-Algebra\u0026project=AppliedLinAlg.prj) \u003cbr\u003e[GitHub](https://github.com/MathWorks-Teaching-Resources/Applied-Linear-Algebra)   |\n| :-- | :-- |\n\n\u003ca name=\"H_24A492A6\"\u003e\u003c/a\u003e\n## [Virtual Hardware and Labs for Controls](https://www.mathworks.com/matlabcentral/fileexchange/100064-virtual-hardware-and-labs-for-controls?s_tid=srchtitle)\n| \u003cimg src=\"Images/image_10.png\" width=\"171\" alt=\"image_10.png\"\u003e | **Available on:** \u003cbr\u003e[\u003cimg src=\"Images/OpenInFX.png\" width=\"91\" alt=\"OpenInFX.png\"\u003e](https://www.mathworks.com/matlabcentral/fileexchange/100064-virtual-hardware-and-labs-for-controls?s_tid=srchtitle) \u003cbr\u003e[\u003cimg src=\"Images/OpenInMO.png\" width=\"136\" alt=\"OpenInMO.png\"\u003e](https://matlab.mathworks.com/open/github/v1?repo=MathWorks-Teaching-Resources/Virtual-Controls-Laboratory\u0026project=VirtualControlsLaboratory.prj) \u003cbr\u003e[GitHub](https://github.com/MathWorks-Teaching-Resources/Virtual-Controls-Laboratory)  |\n| :-- | :-- |\n\n\nFeel free to explore our other [modular courseware content](https://www.mathworks.com/matlabcentral/fileexchange/?q=tag%3A%22courseware+module%22\u0026sort=downloads_desc_30d).\n\n\u003ca name=\"H_CD56F44E\"\u003e\u003c/a\u003e\n# Educator Resources\n-  [Educator Page](https://www.mathworks.com/academia/educators.html) \n\u003ca name=\"H_F10FBF7B\"\u003e\u003c/a\u003e\n\u003ca name=\"H_0FA5DA18\"\u003e\u003c/a\u003e\n# Contribute \n\nLooking for more? Find an issue? Have a suggestion? Please contact the [MathWorks teaching resources team](mailto:%20onlineteaching@mathworks.com). If you want to contribute directly to this project, you can find information about how to do so in the [CONTRIBUTING.md](https://github.com/MathWorks-Teaching-Resources/Robotic-Manipulators/blob/release/CONTRIBUTING.md) page on GitHub.\n\n\n *©* Copyright 2023 The MathWorks™, Inc\n\n\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmathworks-teaching-resources%2Frobotic-manipulators","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmathworks-teaching-resources%2Frobotic-manipulators","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmathworks-teaching-resources%2Frobotic-manipulators/lists"}