The use of virtual reality to demonstrate trajectory planning and control of A3-dof underactuated robot in a horizontal plane in real-time

Abstract EN

Time 3D animation and Real-Time Simulation results are reported for a 3R under actuated robot moving in a horizontal plane using Virtual Reality Toolbox™, Real Time Windows Target™, Real-Time Workshop®, and interfaced to Simulink® under the MATLAB® environment.

The reason behind Real-time 3D animation and Real-Time simulation is to provide animated real-time tools in a realistic fashion to demonstrate the effectiveness of the controllers in tracking the desired trajectory and to provide a tool for researchers to test their proposed controllers and observe their behavior using 3-DOF under actuated manipulator in real-time.