A MATLAB code for simulating the movement of a planar three-link robotic arm inside the working area defined by the arm paramters.
This project was part of a course in Mechanical Engineering, associated with Faculty of Engineering, Cairo University.
- DKPM (Direct Kinematic Position Model): given the angles of the arm links, DKPM calculates its position in the XY plane.
- IKPM (Inverse Kinematic Position Model): IKPM calculates if a particular position in the XY plane is reachable by the arm. In other words, given a position (x,y), it finds if a solution (valid link angles) exists for this position.
- Working Area Calculation: calculation of the working area using Green's Theorem on a Closed path Integral, numerically.
- Working Area Plotting: Plotting the reachable working area defined by the three links.
- Trajectory Generation: Generating a possible trajectory between two points inside the working area.
- Robot Arm Simulation: Simulation of the arm movement.
Check the report file for an illustration of the program.
- Alhussein Gamal Hussein Ali
- Tarek Emad Eldin Kotb