This project focuses on simulating the kinematics and dynamics of a 5-DOF robotic arm using MATLAB. The goal is to provide a comprehensive understanding of the arm's motion and behavior, including its position, velocity, and acceleration profiles, as well as the forces and torques acting on each joint.
- Forward Kinematics: Calculate and visualize the end-effector's position and orientation based on the joint angles.
- Inverse Kinematics: Compute the joint angles required to reach a desired end-effector position and orientation.
- Dynamics Modeling: Develop dynamic equations to analyze the arm's behavior under external forces and torques.
- Motion Simulation: Generate smooth trajectories for the robotic arm and visualize its motion in 3D space.
- Force and Torque Analysis: Evaluate the forces and torques experienced by each joint throughout the arm's movement.
- Interactive GUI: Provide an intuitive graphical user interface to input desired positions, visualize results, and analyze data.
https://www.youtube.com/watch?v=B_KQvSQvrrw https://www.youtube.com/watch?v=u5WpKVgASZI