Equations calculator and Programmer
May 2018
Built with: Matlab, Arduino, Servomotors, Potentiometers, Robotics Theory
Final Project of ‘Robotics’ Course
Description:
The main objective of this project was to built and control a SCARA robot, we had to create a User Interface to control the robot and it had to be precise. There were 2 ways to control it, by telling the robot the final coordinates where it had to arrive and by telling it the angles values.
In order to perform this task, we had to calculate the forward kinematics and reverse kinematics equations that the Matlab program should calculte, we also obtained the velocity and accelaration equations.
I was responsible of calculating the Forward and Reverse kinematics equations using Algebraic, Geometric and DH methods. Plus, I helped with the programming of the interface in Matlab.
GALLERY
Working Space
Acceleration and Velocity
Forward Kinematics
