RobotKinematics

Illustration of robot kinematics and D-H parameters. Contain live script to visualize the robot configurations.

Require Matlab2019a or above

Run Visualization.mlx to visualize robot configurations.

Supported Robot Types

Currently contain the following CAD models:

1. FANUC LRMate200iD
2. FANUC LRMate200iD/7L
3. FANUC M16iB

Capsule models for LRMate200iD and M16iB are also provided.

(Update 2020.6.22) Matlab now supports a library of robot models https://www.mathworks.com/help/robotics/ref/loadrobot.html

How to Add A New Robot Model

Suppose we want to add a new robot called myBot, we need to:

1. Add a new case myBot in robotproperty.m (need to specify number of links, D-H parameters, and base)
2. Add .mat mesh model(s) of myBot in the folder figure

• If the mesh model is generated from a CAD model, name it myBot.mat. *To generate .mat mesh model from .stl file, 1) get stlread from link, 2) modify and run RobotCADFromSTL.

  If the model doesn't work as expected. There mainly two possibl reasons: 1. There are multiple definitions of D-H parameter, we are using this one; 2. Make sure the reference frame located at the former joint for each link rather than the latter joint. This will lead to different D-H parameters.

• If the mesh model is generated from a capsule model, name it myBotCapsules.mat.