RCS_2023_winter_project

The RCS_2023_winter_project, hosted at Korea Aerospace University from December 30, 2023, to February 29, 2024, encompasses a comprehensive study on basic robotics, focusing on two-link planar and three-link planar robots, covering theoretical foundations, MATLAB simulations for circle drawing, and practical implementations of three-link planar robot using Arduino with Dynamixel motors.

Table of contents

• theory
• matlab Simulation
• arduino Actual Implementation
  • Architecture
  • Source Code

Theory

This section describes the basic learning content for the mechanical analysis of a robotic arm.

contents

• rotation matrix

• DH parameter

• forward kinematics

• inverse kinematics

Matlab Simulation

circle drawing simulation based on learned theories, demonstrating geometric and numerical analysis through the implementation of simulations for each a two-link planar robot and a three-link planar robot.

Arduino Actual Implementation

Implementation of a three-link planar robot simulation using Dynamixel.

supplies

• 3d printed links

• Dynamixel motors * 3

• OpenRB-150

• Powersupply 12V 3A (refer to datasheet)

• connection wire (manual extented)