mlabviet

After finishing the blog "Control a Dynamixel Motor from Matlab", I'm going to make a project : Robot Arm, My plan is: 1. Modeling a Robot base on Denavit–Hartenberg parameters 2. Solve the kinematic and invert kinematic equation. 3. Simulate the kinematic and kinematic equation 4. Design the model on Solidwork and export the model to simulink model. 5. Trajectory design, test on real robot. 1.Modeling a Robot base on  Denavit–Hartenberg parameters - I'm going to design a 4-DOF robot arm. - Now we will put the coordinator to each link base on  Denavit–Hartenberg  method. - Now we have the D-H table 2. Solve the kinematic and invert kinematic equation.        2.1 Kinematic equation. Transform matrix from coordinates(n) to coordinates(n+1)            Transform matrix from coordinates(0) to coordinates (n). We will use roll-pitch-yaw angle to illustrate  the orientation of coordinates(n) to t

Hi everyone, In order to use the powerful of Matlab Toolboxes  and Simulink . I'm going to build a native library to control the Dynamixel Motors from Matlab directly. Dynamixel Motor My Source Code:  https://github.com/quangthanh010290/MatlabDynamixel I. Using Dynamixel SDK     - Step 1: Create Class            o  = MyDynamixel();     - Step 2: Initialize the serial port            o.portNum = 16;            o.baudNum = 1;            o.init()     - Step 3: Add dynamixel motor base on their IDs            o.addDevice(5);            o.addDevice(16);     - Step 4: Set Speed for dynamixel (optimal, can use default setup)            o.setSpeed('id',5,'RPM',10);            o.setSpeed('id',16,'RPM',10);    - Step 5: Turn the Dynamixels           o.writeAngle('id',5,'deg',0);           o.writeAngle('id'

Hi everyone, In order to use the powerful of Matlab Toolboxes  and Simulink . I'm going to build a native library to control the Dynamixel Motors from Matlab directly. Dynamixel Motor My Source Code:  https://github.com/quangthanh010290/Dynamixel I. Using Dynamixel SDK     - Step 1: Create Class            o  = MyDynamixel();     - Step 2: Initialize the serial port            o.portNum = 16;            o.baudNum = 1;            o.init()     - Step 3: Add dynamixel motor base on their IDs            o.addDevice(5);            o.addDevice(16);     - Step 4: Set Speed for dynamixel (optimal, can use default setup)            o.setSpeed('id',5,'RPM',10);            o.setSpeed('id',16,'RPM',10);    - Step 5: Turn the Dynamixels           o.writeAngle('id',5,'deg',0);           o.writeAngle('id',16,&#