It returns a vector of 1X6 containing the angle solution of the JonaBot for the provided target). It provides the option to choose from the 8 different solutions as the arguments. The program calculates all the possible solutions. inverseKinematicsFuncOp.m (This function calculates the inverse kinematics given a certain target for the JonaBot.These functions can be found under the names: Similarly, other functions were generated to be used later in other programs and to support the main or other programs. The code text was also included in the section B of the Appendix. The program then prints out all the possible solutions and displays the robot model in all these different solutions. It provides the option to rotate or change the position of the target. Inverse_Kinematics_Program.m (This program calculates the inverse kinematics given a certain target for the JonaBot.The program to visualize it is in saved in the coding folder under the name: This process was programmed using MATLAB. The function returns the transformation matrix of frame t01, t12, t23, t34, t45, t56, t6tcp) forwardKinematicsFuncTCP.m (This function calculates the forward kinematics of a given set of angles (Degrees) for the JonaBot DH parameters.Similarly, the code was used to generate functions to be used later in other programs. The code was also included in the section A of the Appendix. ğorwards_Kinematics_Program.m (This program calculates the transformation matrixes for the JonaBot, then it evaluates them using a given set of angles to obtain the T06 and the T0tcp Frames.) in the coding folder.The program to visualize it is in saved under the name: Please install it before running the programs if the most recent version is not available.
Robotics System Toolbox is also required. Simulations described in this report require MATLAB and SIMULINK 2021 to be installed in the computer to be run. Objective: The main objective was to learn about the kinematics of a manipulator. 6-DOF-Manipulator-Kinematic-Simulation.-Matlab-Simulinkĭescription: During my MSc Course, I developed a simulation of the kinematic model of a 6 DOF robot, along with trajectory plans.
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