robotic_Arm.m

clc
clear all
% defining parameters of DH table
a = [1.2 22 22 0 0];% link lengths
al = [pi/2 0 0 pi/2 0];% twist between links
d = [35 0 0 0 15];%offset
theeta = [10 15 20 25 30];%angle between links
% Storing angles( both coordinates)for each link in an array
c1 = [cosd(theeta(1)) cosd(theeta(2)) cosd(theeta(3)) cosd(theeta(4)) cosd(theeta(5))];
s1 = [sind(theeta(1)) sind(theeta(2)) sind(theeta(3)) sind(theeta(4)) sind(theeta(5))];
c2 = [cosd(al(1)) cosd(al(2)) cosd(al(3)) cosd(al(4)) cosd(al(5))];
s2 = [sind(al(1)) sind(al(2)) sind(al(3)) sind(al(4)) sind(al(5))];
% transformation matrix for each link
T1 = [c1(1) -s1(1)*c2(1) s1(1)*s2(1) 1.2*c1(1); s1(1) c1(1) -c1(1)*s2(1) 1.2*s1(1); 0 s2(1) c2(1) d(1); 0 0 0 1];
T2 = [c1(2) -s1(2)*c2(2) s1(2)*s2(2) 22*c1(2); s1(2) c1(2) -c1(2)*s2(2) 22*s1(2); 0 s2(2) c2(2) d(2);0 0 0 1];
T3 = [c1(3) -s1(3)*c2(3) s1(3)*s2(3) 22*c1(3);s1(3) c1(3) -c1(3)*s2(3) 22*s1(3);0 s2(3) c2(3) d(3);0 0 0 1];
T4 = [c1(4) -s1(4)*c2(4) s1(4)*s2(4) 0*c1(4);s1(4) c1(4) -c1(4)*s2(4) 0*s1(4);0 s2(4) c2(4) d(4);0 0 0 1];
T5 = [c1(5) -s1(5)*c2(5) s1(5)*s2(5) 0*c1(5); s1(5) c1(5) -c1(5)*s2(5) 0*s1(5);0 s2(5) c2(5) d(5); 0 0 0 1];
% transformation of whole system/robot
T = T1*T2*T3*T4*T5;
%link command to contact coordinate of each joint
L(1) = Link([theeta(1) d(1) a(1) al(1)]);
L(2) = Link([theeta(2) d(2) a(2) al(2)]);
L(3) = Link([theeta(3) d(3) a(3) al(3)]);
L(4) = Link([theeta(4) d(4) a(4) al(4)]);
L(5) = Link([theeta(5) d(5) a(5) al(5)]);
SCORBOT = SerialLink(L);
% command for forward kinematics from base to gripper
robot = fkine(SCORBOT, [theeta(1) theeta(2) theeta(3) theeta(4) theeta(5)])
SCORBOT.name = ' Robotic Hand';
%plotting the robot
SCORBOT.plot([theeta(1) theeta(2) theeta(3) theeta(4) theeta(5)]);
title('Robotic Hand');