Manipulator-Simulation

A Simulink/MATLAB simulation for a robotic manipulator, focusing on both its forward and inverse kinematics. This project provides a platform for modeling, simulating, and analyzing the motion of robotic arms, making it useful for research, education, and prototyping robotic applications.

Features

• Forward Kinematics: Calculate the end-effector position/orientation given the joint parameters.
• Inverse Kinematics: Compute the required joint angles to achieve a desired end-effector position/orientation.
• Simulink Integration: Visual and interactive simulation using Simulink models.
• MATLAB Scripts: Scripts for computation, demonstration, and analysis.
• Customizable Manipulator Parameters: Easily adjust link lengths, joint limits, and other parameters.
• Visualization: 2D/3D plots to visualize manipulator movement and workspace.

Demo

4DOF.GITHUB.DEMO.mp4

Getting Started

Prerequisites

• MATLAB (Recommended: R2020a or newer)
• Simulink toolbox

Installation

1. Clone the repository:

   git clone https://github.com/Osita16/Manipulator-Simulation.git
   cd Manipulator-Simulation

2. Open MATLAB:

   • Add the cloned folder to your MATLAB path:

     addpath(genpath('path_to/Manipulator-Simulation'));

3. Open and Run Simulink Model:

   • Open the main Simulink file (e.g., manipulator_model.slx) in MATLAB.
   • Click 'Run' in Simulink to start the simulation.

4. Run MATLAB Scripts:

   • Scripts such as forward_kinematics.m and inverse_kinematics.m can be run directly from the MATLAB command window.

Usage

• Forward Kinematics:
  Use the provided script or Simulink block to compute the end-effector's position for given joint angles.
• Inverse Kinematics:
  Use the inverse kinematics script to calculate joint angles for a desired end-effector position.
• Simulink Simulation:
  Adjust parameters in the Simulink model to simulate different manipulator configurations.

File Structure

Manipulator-Simulation/
│
├── forward_kinematics.m
├── inverse_kinematics.m
├── manipulator_model.slx
├── README.md
└── ...

• forward_kinematics.m: MATLAB script for forward kinematics calculation.
• inverse_kinematics.m: MATLAB script for inverse kinematics calculation.
• manipulator_model.slx: Main Simulink model file.

Customization

• Modify manipulator parameters (link lengths, number of joints, joint limits) in the appropriate scripts or model mask parameters.
• Extend the model to include dynamics, control algorithms, or additional sensors.

Contributing

Contributions are welcome! Please open an issue or submit a pull request for suggestions, bug fixes, or enhancements.

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Author: Osita16
Project Repository: Manipulator-Simulation