/ManipulatorWorkspace

Generating a three dimensional graphical representation of any n-DOF serial robotic manipulator workspace using MATLAB

Primary LanguageMatlab

MATLAB Code

The "GenerateManipWorkspace.m" file generates a three-dimensional workspace graphical representation of any n-DOF serial robotic manipulator by taking a DH-Table as an input.

Output

This code computes the transformation matrix of the end effector with respect to its base as well as the Jacobian matrix.

Plots

Two plots are generated:

  1. Point cloud
  2. Workspace boundaries.

Example

An example of 3-DOF RPP Manipulator is included for demonstration purposes:

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