Nikoli's Future

4 Degrees of Freedom Robot Arm With a Twist STM32F4 - Processor in the Loop Inverse Kinematics of a Two-Link Planar Elbow Manipulator (Symbolic Math) Solving the 4 Degree of Freedom (Matlab Script) Simulink Matlab Function Block Implementation Simulation with Simscape Multibody Processor in the loop with STM32F4 Discovery Board What we need Results Next Steps This is a documentation of steps being done to be able to solve the 6 Degree of Freedom Robot Arm bought online.  This goes through the process of solving the inverse kinematics of a Two-Link Planar Elbow Manipulator which is the basis of our case. Wrist and Clamps was not solve here &_& Inverse Kinematics of a Two-Link Planar Elbow Manipulator x d , y d  = location of the tip of the manipulator     q 1d ,  q 2d  = angles of the links (counter-clockwise is positive)  q 3d  = dummy angle q 4d  = dummy angle L1, L2 =  lengths of the links (constant) th1d := Symbol::subScript(Symbo

Open loop Boost Converter to Close loop Boost Converter As what we have discussed and talked about in part 3 of this blog series, we are now going to have an open loop controller first before we can properly set our PI Close loop Control System. With our duty cycle percentage value and the voltage output due to that duty cycle percentage we can then use System Identification Toolbox of Matlab to get the transfer function of the design under test. However we still need Instrument Control Toolbox to be able to bring the snapshot of our oscilloscope to Matlab. Open Loop Boost Converter Fig. 1 Connections for the Open Loop To simply our open loop response a step block will be used that will issue a value of  9216 which is equivalent to 50% duty cycle Fig. 2 Open Loop Model Channel 1 which is connected to the Boost Converter Output has a value of 10 Volts and Channel 2 which is connected to the DAC PA4 output has a value of 1.64 (~ 50% of 3.3 volts) Fig. 3 Step Respon