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Lab 2 - Robotics - Robotics Toolbox

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Lab 2 - Robotics - Robotics Toolbox

Uploaded by

koko85100p
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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로봇 공학 (MES321)

• Practice 2
- Matlab Robotics Toolbox

• HW#1
- 1.1 show sample test using Robotics toolbox
- 1.2 curve fitting programming
Prof. Seungryeol Yoo
School of Mechanical Engineering
Korea University of Technology and Education
Robotics S. Yoo 2/7

Peter Corke Robotics Toolbox


v Software for robotics, vision and other things. This includes the robotics and machine
vision toolboxes for MATLAB®
§ https://petercorke.com/
§ Useful information: https://petercorke.com/resources/articles-tutorials/

v EL site installation file and manual are available


§ Peter Corke Matlab robot-10.3.1.zip
§ Peter Corke Matlab robot toolbox manual.pdf
Robotics S. Yoo 3/7

Robotics Toolbox installtion


v installation procedure
1) unzip the Peter Corke Matlab robot-10.3.1.zip under a folder you want keep
2) run Matalb
3) setup path
4) enrollment the folder ( just one time enough)
5) type startup_rvc whenever you want to use the robotics toolbox
Robotics S. Yoo 4/7

Sample test (HW#1.1)


v type the following matlab code, run and see the puma560 moving

vHW#1.1: use p=[0.6 0.2 0.2 ]; ae = [ 146 47];


Robotics S. Yoo 5/7

Matlab programming Curve fitting


vCurve fitting
y = ax + b
50

45

40

35

30

25
y

20

15

10

0
0 1 2 3 4 5 6 7 8 9 10
x
Robotics S. Yoo 6/7

Matlab programming Curve fitting


vCurve fitting 
    
 =   =  − ( ) +  − ( ) +  − ( ) +  − ( )
y = ax + b 

#  # 


 
 =   − ( ) =   − ( + )
 

Problem:     = ∑  − ( + ) 


Robotics S. Yoo 7/7

Matlab programming Curve fitting

yn = [ 13 12 15 18 24 28 24 27 32 35 40 45 55]
50

45
row data
fiting curve
Used command:
- plot
40 - xlabel, ylabel
35 - inv
- clf
30
- hold on
25 - legend
y

20

15

10
HW#1.2
5
- function 최대한 사용
0
0 1 2 3 4 5 6 7 8 9 10
x

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