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Plotting/Displaying Manitpulators in Matlab
This site has links to display code for the different manipulators as well as implementation examples. You should be able to incorporate these display functions into your homework assignmented. Some are rudimentary (simple lines and circles), some are more complex (3D models).
Simple Planar Manipulators
The manipulators to appear in the homework range from a simple R2 manipulator up to an R4 manipulator. The code for each of them is below:
- Planar R2.
- Planar R3
- Planar R4.
Piktul
The simplest manipulator to be used in the course is called *piktul* as named by the student who helped me design it. It is the simplest instantiation of a SCARA manipulator that we could create using laser cut parts and the lowest-torque, lowest-cost servo motors available.
Lynx6
The slightly more fully functional manipulator to be used in the course is called the *Lynx 6* manipulator made by Lynxmotion. We have different versions, from the earliest Lexan one, up to the more recent aluminum ones.