Joseph Jang’s Status Report for 4/2

This week, I was able to hardcode some movements for the robotic arm.  I am using the I have taken the measurements of the robotic arm, so I have put it in the Matlab code. First I had to specify the Rigid Body Tree Model.  I could modify the model by using the addBody.  Finally, I used the inverseKinematics function to try to have the robot arm moving.   I’ve tried two different IK models, which are called BFGSGradientProjection and LevenbergMarquardt.  However, since there are multiple solutions that are possible for an (x, y, z) position, the angles of each joint of the robotic arm need to be specified somehow.  We have to choose the right arm joints by making sure the robot arm links are not close to the grill.  Although the picture below is not a picture of the robotic arm I’m using, it is the GUI that I am using to control the robotic arm.