How do I calculate the velocity and acceleration of articular joints of a 2 link robot? (rotation translation)

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Hello, I have these transformation matrixes:
T1_0=[cos(q1) -sin(q1) 0 0;...
sin(q1) cos(q1) 0 0;...
0 0 1 0;...
0 0 0 1];
T2_1=[1 0 0 q2;...
0 1 0 0;...
0 0 1 0;...
0 0 0 1];
Te_2=[1 0 0 l1;...
0 1 0 -l1;...
0 0 1 0;...
0 0 0 1];
and the big one
Te_0=[cos(q1), -sin(q1), 0, l1*cos(q1) + q2*cos(q1) + l1*sin(q1)]
[sin(q1), cos(q1), 0, l1*sin(q1) - l1*cos(q1) + q2*sin(q1)]
[ 0, 0, 1, 0]
[ 0, 0, 0, 1]
And I need to make a function where I plot the velocity and the acceleration of the q joints based on their initial and final position.
I really dont know how to start, please help

Answers (1)

Sakshay
Sakshay on 28 Nov 2022
Hello Spulber,
As per my understanding, you are trying to create a 2-Link Manipulator Robot and calculating its Joint Position and Acceleration given the Initial and Goal Configurations.
You can go through the following steps to accomplish the same:
  1. Create a robot as a "rigidBodyTree" object using the Transformation Matrices. You can refer to this documentation to build a robot using the same: Build a Robot Step by Step - MATLAB & Simulink (mathworks.com)
  2. Simulate the Joint Space Motion of the Robot Manipulator using a specific Control Function. You can refer to this documentation to simulate the same: Simulate Joint-Space Trajectory Tracking in MATLAB - MATLAB & Simulink (mathworks.com). The example, illustrates how to plot the results as well.
You can refer to the documentation on "rigidBodyTree" for more information on that as well:

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