Advanced Simulation of a Robotic Arm with 2 Degrees of Freedom
Abstract
In this project, a robotic arm was developed, modeled, and implemented using the Matlab Simulink programming platform. The robotic arm was designed with 2 degrees of freedom and equipped with three motors, allowing for precise and coordinated control of its movements. For simulating the dynamic and kinematic behavior of the arm, Simscape blocks were used, facilitating a detailed three-dimensional representation of the system.
The main objective of the project was to demonstrate a simulation of the robotic arm that allows for precise control of the movement angles. Through a detailed 3D simulation in Simscape, the movement and interaction of the arm's components could be visualized, validating its capability to perform tasks with high precision and efficiency. The results obtained demonstrate the effectiveness of using Simulink and Simscape in the design and simulation of robotic systems, highlighting the importance of these tools for automated development.
References
Borja M. Sistema de Control de Brazo Robótico para Experimentar la Cinemática Inversa y Planificación de Trayectoria en Entornos Académicos, INTERCON 2014.
Universidad Politécnica de Valencia. (2020). Design and Simulation of a 2-Degree-of-Freedom Robotic Arm Using MATLAB Simulink. Robotics and Artificial Intelligence, 7(1), 23-31.
Instituto Tecnológico Nacional de México (ITNM) Celaya. (2019). Design and Simulation of a 2-Degree-of-Freedom Robotic Arm Using MATLAB Simulink. Pistas Educativas, 5(2), 45-53.
Universidad de Sevilla. (2023). Ecuaciones de Lagrange (CRM). Universidad de Sevilla, España.
Robótica, Visión y Control en MATLAB®. Springer Tracts in Advanced Robotics, Book 118, 2011.
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