robotica's Introduction

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:

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robotica's Issues

It's possible someone else has run into this issue, or I was simply using Robotica incorrectly but I ran into the issue of Robotica not being able to read in my DYNAMICS input. I tried copy/pasting directly from the manual (http://tareksobh.org/online_courses/cpe460/Lectures_Handouts/3/Robotica_User_Manual.pdf) but got an error.

I've realized that there's an extra "Read[f,String]" line right after it reads the line "DYNAMICS" in the data file, which skips the line containing the gravity vector and jumps to the first mass value. This of course threw off reading the rest of the data in the datafile. Deleting this line fixed my problems!