SCARA Robot Visualizer

MATLAB script that shows motion across different trajectoris of a SCARA robot. User can choose one of 5 different modes of operation in SCARA_VISUALIZER.m code (mode variable).

For further description and screenshots consult this pdf.

What I have learnt?

• using homogeneous matrices to position and orient object in 3D space
• SCARA robot's forward and inverse kinematics
• matlab: drawing 3D solids, coordinate systems
• matlab: programming and animating motion according to parametric curves
• matlab: using switch to program different modes of program execution

References

• [1] Jezierski E.: Dynamika robotów, Wydawnictwa Naukowo-Techniczne, 2006
• [2] http://www.mathworks.com/help/rptgenext/ug/documentation.html
• [3] www.wolframalpha.com (parametric curves)