robodemo.m

This program will animate the 3D model of a RPP joint robot.

This program will animate the 3D model of a RPP (revolute, prismatic, prismatic)joint robot while it follows a simple 3D linear trajectory in space.

The RPP robot is controlled in jount space with smooth continuous 3rd and 4th order splines that provide continuous velocity, and acceleration without violating joint constraints for maximum torque and speed. The trajectory was arbitrairly chosen to allow 5 inverse kinematic precision points along the path. Notice as the robot animates along the linear 3D line, MATLAB will plot the error of the end-effector which is the difference between the commanded position and the perpenducular distance to the actual 3D line. Watch for the five points of accuracy (where the error is zero).