Simulación en el entorno Simulink de Matlab de un brazo robótico de 4 grados de libertad (GDL).

Abstract

In the present work, the simulation of a robotic arm with 4 degrees of freedom (GDL) is carried out in order to know the position of its end effector by means of direct kinematics analysis in the Simulink environment of Matlab.

Chapter 1 contains the introduction, the general objective and the specific objectives of this degree work. It also presents in a general way the fundamental concepts of robotic arm, link, articulation, direct kinematics, geometric method and Denavit Hartenberg methodology.

Chapter 2 presents the methodology used, where the selection of the robotic arm, as well as the modeling and assembly of the robotic arm are presented. In addition, the direct kinematics analysis and the functional tests are shown.

Chapter 3 describes the specific objectives and the procedure to fulfill each one of them. The tests and results obtained from the simulation of the robotic arm are also described.

Finally, Chapter 4 contains the conclusions and recommendations derived from the operation of the simulation of the robotic arm in Simulink.