Introduction

This mini-project consists of the simulation of 3 degrees of freedom planar robotic arm in MATLAB using forward kinematics (and Denavit Hartenburg convention).

Concepts used

It uses forward kinematics (along with Denavit Hartenberg conventions) to calculate the positions of the joints in space depending upon the joint angles required. The transformation matrix applied on a point transforms that point from (i - 1)th to (i)th frame. Using this, all points are found and plotted.

Software Used

MATLAB R2017a

Demo Video

Project under :
IvLabs - Robotics Lab of VNIT, Nagpur

By :
Akshay R Kulkarni

Mentor : 
Sapan Agrawal
Department of Mechanical Engineering
IvLabs
Visvesvaraya National Institute of Technology, Nagpur