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Any Matlab Help or Professionals? #HELPaNOOB

the_future

please helppp!!!!

 

just brought one of many new engineering books and the one I started is on Matlab

for robotics and the toolbox but need help with the questions.

 

 

here are the questions

 

This will be based on a series of experiments with the Lynxmotion1 robot arm.

 

  1. Derive a DH representation of forward kinematics for the Lynxmotion arm.

 

 

  1. Analyse the workspace of the robot’s end-effector when each preceding joint moves through its range of motion and plot its 2D views.

 

 

  1. Derive the inverse kinematics for the Lynxmotion arm using the Robotic Toolbox in MATLAB. Test a IK model in 3 different Cartesian positions and demonstrate the accuracy of your model (include necessary comparisons). Create the appropriate plots.

 

 

  1. Plan a task* in MATLAB with at least 5 positions, plot the robot and show an investingation. This process should give you 5 sets of Cartesian coordinates (x,y,z) and angles yaw, pitch, roll specifying the end-effector position and orientation in 3D space (Task: is to pick up a small ball and put it in a cup).

 

 

  1. Solve the Inverse Kinematics for these positions in 3D space and obtain sets of Joint Parameters. Create an appropriate plot/animation in MATLAB (use Robotic Toolbox) for the motion of the robot. MOVE THE ROBOT between the points (film the motion of the robot and provide the video).

 

 

  1. Use a set of Lynxmotion arm joint values to create a free motion trajectory between the points

 

 

  1. Implement a velocity profile with at least 3 different velocities (e.g. start, intermediate and end velocities) (MATLAB only)

 

 

  1. Do a full FK Lynxmotion arm and explain how you can derive the closed-form IK model
Parents
  • 0

    Seeing your other two posts today Circuit Helpp!!  and Circuit Help  I'm going to be a bit blunt (almost rude) in my reply. This post and your other two do not give the E14 community any idea of where you have got to before getting stuck, they just state you have a problem and want help sorting it, which is fine; but you have to put effort in as well. I appreciate we all get stuck somewhere from initial idea to finished project but usually we will have a good attempt at solving the task by doing some reading of the material before posting a request for help. Your post above is just a series of complex questions that I assume you want someone to do all the hardwork for you. This post relates to Matlab - so how much Matlab programming have you done? If the answer is none then I would suggest reading up on the basics via something like this https://www.tutorialspoint.com/matlab/ or https://learntocode.mathworks.com/

     

    For instance, I tried to learn to program the STM32 microcontroller and had real difficulties in the compiler basics, I tried out several approaches over a couple of days. Read some more. Asked simple questions in forums to edge me along. Gradually and from several sources I was able to progress, learnt a lot along the way and made some new online 'buddies' in the various forums.

     

    In your above post add some detail to explain what part of each question you don't understand.

     

    Rod

  • 0 in reply to 14rhb

    apologies very new to the engineering world someone just told me to add your question here and people would help out I have not idea how to go through each part so I was kind of looking for that one2one as I dont have a lot for mentoring or tutors. lol would'nt know how to begin any of it tried the first question a bit and came up with a drawing and some table I read online and a bunch of other resources but its all still alien to me....sorry I have given the wrong impression not looking for someone to do all the hardwork for me but someone to help explain the steps of getting through each part as I am self taught

     

     

     

    imageimage

Reply
  • 0 in reply to 14rhb

    apologies very new to the engineering world someone just told me to add your question here and people would help out I have not idea how to go through each part so I was kind of looking for that one2one as I dont have a lot for mentoring or tutors. lol would'nt know how to begin any of it tried the first question a bit and came up with a drawing and some table I read online and a bunch of other resources but its all still alien to me....sorry I have given the wrong impression not looking for someone to do all the hardwork for me but someone to help explain the steps of getting through each part as I am self taught

     

     

     

    imageimage

Children
  • 0 in reply to the_future

    These still look like homework questions (and over the years there have been other examples that looked like homework too, such as this one:

    I know there is a problem is my circuit but I cant find it (Learning the basics) 

    so I can only provide very general information.

    This is the sort of task that the teachers (or at least someone) have gone to effort to invent, to keep you interested. It ought to be fun. There's no point in it unless you spend the time discovering how to do it, through experiment and reading up.

    Basically, if you google 'inverse kinematics' you'll eventually find examples of how people did it for different robot arms. By examining them, you'll discover that the bulk of it is an exercise in trigonometry, mainly Pythagoras and sine/cosine/tangent calculation.

    Depending on the linkages on the arm you have, it could be very easy, or it could be hard. The full locus of movement for one motor may affect the locus for another axis.

    MATLAB's toolkit may simplify it all - I don't know, but you have the book : ) The method mentioned above is a pen-and-paper exercise, whereas MATLAB may do the calculations for you. Googling reveals that MATLAB has examples online, that show how to get it to calculate all motor settings for any solvable position, based on something they call ANFIS.

    The one time I tried it with a _simple_ robot arm, I actually found it quite hard because I did it manually using trigonometry, and for accuracy it gets complicated fast if some of the axes motors affect other axes. I got there in the end, but I lost some accuracy. Still, if you're a student, your trigonometry should be a lot better than mine..

  • 0 in reply to the_future

    Since you are finding the book hard to follow, start off with using the tutorial material from Mathworks, most of the toolboxes have some pretty good examples and tutorial material.

     

    I don't have the Robotics toolbox so can't help you directly.

     

    https://uk.mathworks.com/help/robotics/getting-started-with-robotics-system-toolbox.html

     

    MK

  • 0 in reply to the_future

    Thank you for explaining the background to your questions and honesty about why you are asking, it helps a lot. This is an interesting topic and something I know little about, but I am interested to read the discussions and learn.

     

    If you broke your task down into smaller parts you could start with a blog on just one aspect. Explain to the community why you are asking, what it is for, what you have found out yourself and where you've got stuck. That would start a discussion where people chip in ideas and knowledge - we would all learn. Over time link each article together into a learning series.

     

    Rod