Robotic-Manipulators

This curriculum module contains interactive examples that teach fundamental concepts of robotic manipulators.

Robotic Manipulators

or

Curriculum Module
Created with R2022b. Compatible with R2022b and later releases.

Description

This curriculum module teaches the fundamental concepts of robotic manipulators (robot arms) using interactive live scripts. Topics in this module cover point translations/rotations, transformation matrices, and DH parameters. Learn and explore how to make a robotic arm move!

These modules connect the theory and application of the specific subject, which will support various student learning objectives. These lessons can be used as part of a lecture to supplement learning, as activities in an instructional setting, or as interactive assignments to be completed outside class.

Get started with the Robotic Manipulators interactive examples

Option 1: Download to Desktop Download and unzip the repository. Then, double-click the RoboticManipulators.prj file inside MATLAB®.

Option 2: Open in MATLAB Online Log in to your MathWorks account to access your license. If you are associated with a university, use your university email to access a license.

• From there, you can follow the landing page instructions to get started with the examples.
• The instructions inside the live scripts will guide you through the exercises and activities.
• Get started with each live script by running it one section at a time.
• To stop running the script or a section midway (for example, if a loop is running longer than intended), click the Stop button in the RUN section of the Live Editor tab in the MATLAB Toolstrip.

Prerequisite Domain Knowledge

These scripts assume some familiarity with basic linear algebra and coordinate systems. It is possible to work through this module without extensive experience in MATLAB and Simulink.

Details

Navigation.mlx This script brings together links and short descriptions of the content in the recommended order of use.

Coordinate_System_Transformations.mlx

A script that introduces the fundamental mathematics behind robotic movement.

In this script, students will...

• Explore the importance of coordinate frames
• Learn the utility of translation and rotation matrices
• Apply transformation matrices to move between coordinate frames

DH_Parameters.mlx

A script that introduces widely used parameters in mechanical engineering to attach coordinate frames to rigid bodies.

In this script, students will...

• Define DH Parameters
• Create a transformation matrix with DH parameters
• Construct a robot frame with DH parameters

Suggested Prework

The suggested prework detailed below is a complementary interactive online course available for all to use with a valid MathWorks account.

• MATLAB Onramp – Get started quickly with the basics of MATLAB.

Products

MATLAB®, Robotics System Toolbox™

License

The license for this module is available in the LICENSE.md file in this GitHub repository.

Educator Resources

• Teaching Robotics with MATLAB and Simulink
• Featured Courseware
• Resources for Educators

Support

Please contact the MathWorks online teaching team. If you are having technical issues using MATLAB, please contact our Technical Support Team.

Acknowledgements

A special thanks to Dhruv Chandel and Jennifer Gago Munoz (both of The MathWorks, Inc.) for developing the core content used to build these interactive educational robotics modules.

Copyright 2022-2023 The MathWorks, Inc.