Topic: SCARA Robot Simulation using MATLAB Simscape, GUIDE and Simulink.
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Author: Nguyen Gia Khiem Department of Control Engineering and Automation Ho Chi Minh City University of Technology Ho Chi Minh City, Vietnam Email: [email protected] || [email protected]
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MATLAB Object Oriented Programming with classes:
- Class Joint
- Class Link
- Class Frame
- Class Robot (in development)
- Class SCARA How to use:
- Run add_path.m
- Run SCARA_robot_GUI.m and wait until everything is loaded
- Click "Start Sim" button and wait until the model is loaded
- Click "Start Sim" button to load robot parameters
- There are 4 options about problem to choose in the dropbox at the bottom corner of the GUI
- Forward_1: Using Slider to change the joint variables
- Forward_2: Solving forward kinematics problem
- Inverse: Solving inverse kinematics problem
- Path & Trajectory planning: Solving path & trajectory planning problem
- Click "Dynamics" button to enable the motor and PID controller simulation, re-click to disabl
- In "Path & Trajectory planning":
There are 2 options of path:
- "Linear": only require 1 destination point
- "Circular 2D": require 1 intermediate point and 1 destination point "per_v" edit box: (value 0.0-1.0) set the maximum velocity of the end-effector - v_max = per_vsqrt(s_maxa_max) "a_max" edit box: (default: 0.05) set the maximum acceleration of the end-effector
- There are 3 options about axes to choose in the dropbox at the top of the GUI
- End-effector 3D view
- Joint variables view
- Tool space view
- Click "Stop Sim" to stop simulation and "Exit" button to exit the GUI