Model and simulation of an open tree robot

CentraleSupélec - Elective course - 2020

Interactive Robotic Systems

Professor: Mathieu Grossard Students:

• João Victor EVANGELISTA MATOSO
• Vítor ALBUQUERQUE MARANHÃO RIBEIRO

Introduction

This code was developed as a final project for the "Interactive Robotic Systems" course at CentraleSupélec. The project consisted of the modelling of an open tree robot with revolute joints developed by the CEA Laboratory.

MATLAB Code (Matlab_model.m)

The code's structure is divided into 5 sections:

1. Parameters Initialization

• Parameters for displaying the plots (can be set to false)
• Geometric parameters of the robot
• Inertial parameters of the robot

2. Resolution of the questions Each question is divided into the same topic as described in the TDs Summary:

• Direct geometric model (questions 4 to 7)
• Inverse geometric model (question 8)
• Inverse kinematic model (questions 9 to 11)
• Dynamic model (questions 12 to 17)
• Trajectory generation in the joint space (question 18)
• The questions 17, 19 and 20 are solved in the Simulink file also attached

3. TD's Functions

• It contains all the functions that were developed for computing the questions

4. Plotting functions

• It contains all the functions that are used to plot results

5. Auxiliary functions

• It contains all mathematical functions used to help during calculations

SIMULINK File (Simulink_model_and_control.slx)

The Simulink file performs the modelling and the control of the robot, Solving the questions 17, 19 and 20 of TD2.

Before running the Simulink file, run the init.m Matlab script to initialize the model's parameters