Simulating the manipulation robot operation in the Matlab Robotics Toolbox software
The paper investigates the capabilities of the MATLAB Robotics Toolbox software package for modeling the movement of a manipulation robot. An algorithm is described for creating a manipulator model in a program based on the Denavit-Hartenberg representation. The study is presented of the manipulation robot kinematics. The direct and inverse positional problems are solved using the internal functions of the software package. The creation of a GUI application in the GUIDE environment for rendering a robot model and modeling its movement is considered. Also authors solved the problem of planning the trajectory of the manipulator grip. The analysis is carried out of the effectiveness of the functions built into the software package and their shortcomings in solving these problems are identified.