Using Analytical Tools to Gain Insight and Speed-up Num. Analysis in MATLAB & Symbolic Math Toolbox
28 Jan 2013
28 Jan 2013)
files from the webinar
%% Begin README : Inverse Kinematics of a Two-link Manipulator
% The <http://www.mathworks.com/products/symbolic/description5.html Symbolic Math Notebook app>
% and the <http://www.mathworks.com/products/symbolic/index.html Symbolic Math Toolbox> are
% used to model the inverse kinematics of a two-link manipulator. The
% equations for the manipulator are then brought into Simulink.
% Copyright 2012 The MathWorks, Inc.
% # Find the related webinar: *Using Analytical Tools to Gain Insight and Speed Up
% Numerical Analysis in MATLAB* <http://www.mathworks.com/wbnr73465 here>
% # This example is a stripped down version of a larger example that
% that shows the complete design of the two-link component. You can learn more about the complete example at
% How a Differential Equation Becomes a Robot: Expanding the Power of MATLAB
% with Simulink and the Symbolic Math Toolbox>.
%% Solving Inverse Kinematics in the Symbolic Math Notebook
% The inverse kinematics problem is <http://www.mathworks.com/help/symbolic/mupad_ref/solve.html solved> for a two-link manipulator in
% the <http://www.mathworks.com/products/symbolic/description5.html Notebook>. A simple animation is also shown.
% <matlab:open('MUInverseKinematics.mn') Open notebook>
%% Solving Inverse Kinematics using Symbolic in MATLAB
% The inverse kinematics problem is solved in MATLAB. A very simple
% animation is performed.
% <matlab:open('MLInverseKinematics.m') Open script>
% <matlab:MLInverseKinematics Run script>
%% Bring in Symbolic expression from Notebook and convert to a block in Simulink
% The symbolic expression is accessed from the <http://www.mathworks.com/products/symbolic/description5.html Notebook>, and then converted
% into a block in a Simulink project using the
% <http://www.mathworks.com/help/symbolic/matlabfunctionblock.html matlabFunctionBlock>
% function of the <http://www.mathworks.com/products/symbolic/index.html Symbolic Math Toolbox>. It is informative to run the
% script in cell mode
% <matlab:open('MLDoubleLink_ImportSymbolicIK.m') Open script>