Skip to content

Latest commit

 

History

History
58 lines (48 loc) · 4 KB

README.md

File metadata and controls

58 lines (48 loc) · 4 KB

MATLAB Kinematics Programme Tutorial

🚀 MATLAB function

There are two MATLAB functions in the MATLAB folder: draw_tdcr.m and FK_matrix.m.

  • draw_tdcr.m: This is the function used to generate the visualization of forward kinematics. The programmes FKD_visual.m and trajectory_replication_display.m use this function. This function is developed by CRVisToolkit. Details about the visualization tool are listed here
  • FK_matrix.m: This is the function used to calculate the forward kinematics. The programme workspace_simulation.m use this function.

🚀 MATLAB programme

There are five programmes in the MATLAB folder: error_calculation.m, FKD_geometry.m, FKD_visual.m, trajectory_replication_display.m, and workspace_simulation.m.

  • error_calculation.m: The approximation is made during the kinematics algorithm conduction. Hence, it is necessary to evaluate the approximation to ensure that the error is sufficiently small to be negligible. The programme performs error calculations for corresponding parameter design.

  • FKD_geometry.m: The programme is used to display the geometry model of the manipulator. FKD stand for "forward-kinematics-display". The orientations and positions of key nodes are diplayed accordingly. There is an example showing the manipulator geometry model with bending angle $alpha$, where $alpha = [90;90;-90;-90]$. The generated images are saved as result/G_<alpha1>_<alpha2>_<alpha3>_<alpha4>.png.

  • FKD_visual.m: The programme is used to generate the posture of the manipulator. The orientations of key nodes are diplayed accordingly. There is an example showing the posture of manipulator with bending angle $alpha$, where $alpha = [90;90;-90;-90]$. The generated images are saved as result/V_<alpha1>_<alpha2>_<alpha3>_<alpha4>.png.

geometry_model_display visualization_display

  • trajectory_replication_display.m: The programme is used to generate videos for trajectory replication. The input of the programme is data generated by Python programme trajectory_replication.py and the data is saved in /result/circle/ which is same as /result/circle/. The index is the number of random points generated in simualtion. The generated video is shown as follows.
circle.mp4
  • workspace_simulation.m: The programme is used to segment the cubic workspace of the manipulator whose side length is 300 mm. The generated images are saved as result/CWS_<index>.png. The index is the number of random points generated in simualtion.

useful workspace useful workspace

📁 Folder Description

.
├── draw_tdcr.m
├── error_calculation.m
├── FKD_geometry.m
├── FKD_visual.m
├── FK_matrix.m
├── trajectroy_replication_display.m
├── workspace_simulation.m
├── README.md
└── result
    ├── circle
    │   ├── alpha.txt
    │   ├── circle.mp4
    │   ├── cita.txt
    │   ├── error.txt
    │   ├── target.txt
    │   └── target_.txt
    ├── CWS_10e5.png
    ├── CWS_10e8.png
    ├── G_90_90_-90_-90.png
    ├── TR_circle.png
    ├── TR_cross.png
    ├── TR_diff_init.png
    └── V_90_90_-90_-90.png