Space Robotics

This project simulates a KUKA R10 Agilus robot arm by means of analytical inverse kinematics. It uses SimScape to visualize the robot arm.

Get Started

• Open 2 MATLAB instances
• In instance 1 open and run openGui.m
• In instance 2 open and run visualizerInterface.m. Wait for the SimScape model to load and clock to tick.
• In the GUI of instance 1 select fixed_8.mat from the Tasks dropdown and press Load.
• Press execute the trajectory generation and inverse kinematics.
• In instance 2 the robot arm should start moving. The joint angles will also be printed in the terminal of instance 2.

Files of interest

There are various files which might be of interest for the user. These files are located in the libraries folder.

• visualizerInterface.m details the UDP connection and updating of the joint angles.
• getDH.m Returns the DH parameters in a struct.
• forwardKinematics.m Runs the forward kinematics.
• inverseKinematics.m Runs the inverse kinematics.
• getTransformToFrame.m Returns the tranformation matrix from a specified frame to another.
• pointsInSphere.m Returns the xyz coordinates of randomly placed points inside a shell within r1<r<r2.
• positionTrajectory2.m Quintic joint space interpolation. Returns the interpolated joint angles, positions and tool orientations. Uses the smoothstep.m function to abstract the matrix calculations.
• positionTrajectory.m Task space interpolation with a Sigmoidal Member function.