https://github.com/hsprcode/robot-arm-modelling

MATLAB Codes written from scratch to model robot arms, which can be used as industrial robot manipulators and helper robots.
https://github.com/hsprcode/robot-arm-modelling

differential-equations homogeneous-transformations ode-model ode-solver robot-arm robot-framework robotics robotics-programming

Last synced: 14 days ago
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MATLAB Codes written from scratch to model robot arms, which can be used as industrial robot manipulators and helper robots.

• Host: GitHub
• URL: https://github.com/hsprcode/robot-arm-modelling
• Owner: hsprcode
• Created: 2020-09-17T23:19:32.000Z (about 4 years ago)
• Default Branch: master
• Last Pushed: 2021-01-13T07:34:30.000Z (almost 4 years ago)
• Last Synced: 2024-10-10T23:41:39.564Z (about 1 month ago)
• Topics: differential-equations, homogeneous-transformations, ode-model, ode-solver, robot-arm, robot-framework, robotics, robotics-programming
• Language: MATLAB
• Homepage:
• Size: 13.7 KB
• Stars: 2
• Watchers: 1
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# Robot-Arm-Modelling-From-Scratch

## Dynamic equations of motion for the robot arm

The dynamic_equations_of_motion.m code gives the equations in symbolic varible which gets substituted using the default DH parameters defined (can be changed).

## ODE solver 

Solving the equations of motion (Ordinary differential equations) of the arm.

## Transformation Matrix

Using user defined joints, the code homogeneous_transform_hspr.m symbolically gives the transformation matrix.