jackstarred/robotica

Mathematica software for DH frames, Forward & Inverse Kinematics, Robot Animations, and Jacobians, etc.

Robotica

is a collection of useful robotics problem solving functions enscapsulated in a Mathematica package, authored by John Nethery and M.W.Spong, updated by Mohammad Sultan and Aaron T. Becker

New Functions:

dhInput[ex] Function:

Now accepts DH parameters as a matrix as well as old method using .txt file.

Alternately, user can enter DH parameters using a dialogue box.

Both new ways work inside Mathematica.

Method 1:

ex = {{r, R, p, Revolute, revolute, r}, {0, 0, 0, 0, 0, 0}, {-Pi/2, 
Pi/2, 0, -Pi/2, Pi/2, 0}, {1, 1, q3, 1/2, 0, 1/2}, {q1, q2, 0, q4,
 q5, q6}}; 
 
dhInput[ex];

Method 2:

Also using dhInput[ex] with ex = dof;   

ex = 6;

dhInput[ex];

showing the following dialogue box to fill:

The new dhInput[ex] methods all give the same result:

drawRobot[] Function:

this function shows your robot initialized with joints set to zero. 
You can manipulate each joint using the sliders.

Example:

After setting DH parameters using dhInput[ex] function as from previous example...

...call drawRobot[] function to draw your own robot!

The following are different robots with a range of DOF: