ROBOT USING MATLAB

7/30/2019 ROBOT USING MATLAB

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2/30

Nkpjy}fa}}dykr fam

}~pdr jlNkf`dr


3/30

_nsdh5 _nsdhr fyd }cd itnhmna` ihjbgr jl fa nkf`d! Na j}cdyjymr( f pnsdh nr }cd rkfhhdr} pjrrnihd nkf`d }cf} bfa idmdpnb}dm ja ~jty rbydda!

Inafy~ Nkf`d5 Fa nkf`d }cf} bjarnr}r jl jah~ ihfbg fam cn}d pnsdhr!

? jy 6

@yf~rbfhd Nkf`d5 N} bja}fnar na}darn}~ |fhtdr yfa`na` lyjk fknanktk #mdpnb}na` firjht}d ihfbg. }j f kfsnktk #mdpnb}na`firjht}d cn}d. fam na id}dda |fy~na` rcfmdr jl `yf~! ]~pnbfhh~(}cnr yfa`d nr id}dda ? fam 944

%Aj}d 5 Na mfnh~ hfa`tf`d cf} d ydldy }j fr

ihfbg+fam+cn}d #fr na jhm pcj}jr.

fyd fb}tfhh~ `yf~rbfhd! Cdabd f|jnm

bjaltrnja cdyd na }dbcanbfh }dykr!


4/30

Bjhjy Nkf`d5 Pd fhh cf|d rdda }cnr& Rtbc fa nkf`d nrbjkpjrdm jl }cd }cydd pynkfy~ bjhjyr( Ydm( @ydda fam Ihtd(

cdabd fhrj bfhhdm fa Y@I nkf`d!

Y@I |fhtd5 fa~ bjhjy jl }cd

jyhm bfa tanvtdh~ id mdrbynidm i~ n}r Y@I |fhtd( cnbcr}famr ljy Ydm( Ihtd fam @ydda |fhtdr! ]cnr }ynphd} cfr dfbc|fhtd yfa`na` lyjk ? }j 944( n}c ? ji|njtrh~ kdfana` aj

bjkpjada} jl }cf} pfy}nbthfy bjhjy fam 944 kdfana` lthhbjkpjada}! Ljy dsfkphd( ptyd ydm bjhjy cfr Y@I |fhtd W944 ??[( ptyd cn}d cfr W944 944 944[( ptyd ihfbg cfr W? ? ?[ fam cfrY@I |fhtd W44 6


5/30

Ydpydrda}f}nja jl fa Nkf`d na KF]HFI

r}jydm fr f 9M kf}yns #jl rnud ksa.

ydpydrda}r }cd na}darn}~ jl hn`c}*bjhjy jl}cf} pfy}nbthfy pnsdh

Cdabd( ljy f inafy~ nkf`d( }cd |fhtd jldfbc dhdkda} jl }cd kf}yns nr dn}cdy ? jy6 fam ljy f `yf~rbfhd nkf`d dfbc |fhtd

hndr id}dda ? fam 944!


6/30

Ydfmna` fam mnrphf~na` Nkf`dr nkydfm#.5]j ydfm fa nkf`d fam r}jyd na f kf}yns! R~a}fs5

NK;nkydfm#lnhdafkd. cdyd NK nr f kf}yns!

11nk;nkydfm#'pdppdyr!pa`'.7

nkrcj#.5 Mnrphf~r }cd nkf`d!R~a}fs5 nkrcj#lnhdafkd. jynkrcj#nk. Dsfkphd(

11nkrcj#'bfkdyfkfa!}nl'.7

Mf}f btyrjy5 ]j rdd }cd |fhtdr jl }cd bjhjyr na }cd ln`tydnamj( `j }j ]jjhr1Mf}f Btyrjy #jy rdhdb} lyjk }cd }jjhify.(fam bhnbg j|dy fa~ pjna} na }cd nkf`d! ^jt bfa rdd }cd Y@I|fhtdr jl }cd pnsdh f} hjbf}nja #S(^.!

11nk}jjh#pdppdyr!pa`.7


7/30

Lnyr}( bhdfy }cd KF]HFI jygrpfbd jl fa~|fynfihdr( bhjrd jpda ln`tydnamjr( fam

bhjrd fhh jpda Nkf`d ]jjhr!bhjrd fhhYdfmfam mnrphf~ }cd `yf~rbfhd nkf`dynbd!pa`!

N ; nkydfm#'ynbd!pa`'.7

nkrcj#N.


8/30

Dr}nkf}d }cd \fhtd jl Ifbg`yjtam _nsdhr

ifbg`yjtam ; nkjpda#N(r}ydh#'mnrg'(64..7

Ln`tyd( nkrcj#ifbg`yjtam.

Bydf}d fa Nkf`d n}c f Tanljyk Ifbg`yjtam

N9 ; nkrti}yfb}#N(ifbg`yjtam.7

ln`tyd( nkrcj#N9.


9/30

Fmetr} }cd Bja}yfr} na }cd _yjbdrrdmNkf`d Fl}dy rti}yfb}nja( }cd nkf`d cfr f

tanljyk ifbg`yjtam it} nr aj f in} }jj mfyg! Trd nkfmetr} }j fmetr} }cd

bja}yfr} jl }cd nkf`d!nkfmetr} nabydfrdr

}cd bja}yfr} jl }cd nkf`d

N2 ; nkfmetr}#N9.7

ln`tyd( nkrcj#N2.7


10/30

Bydf}d f Inafy~ \dyrnja jl }cd Nkf`d

hd|dh ; `yf~}cydrc#N2.7

i ; nk9i#N2(hd|dh.7

ln`tyd( nkrcj#i.

Md}dyknad }cd Atkidy jl Jiedb}r na }cdNkf`d

Whfidhdm(atkJiedb}r[ ; ihfidh#i(=.7

atkJiedb}r


11/30

Dsfknad }cd Hfidh Kf}yns ln`tyd( nkrcj#hfidhdm.7

nkpnsdhyd`nja

Mnrphf~ }cd Hfidh Kf}yns fr f _rdtmjbjhjyNamdsdm Nkf`d

prdtmjZbjhjy ; hfidh9y`i#hfidhdm( Orpyna`('b'( 'rctllhd'.7

ln`tyd( nkrcj#prdtmjZbjhjy.7


12/30

Kdfrtyd Jiedb} _yjpdy}ndrna }cd Nkf`d

`yfnamf}f ; yd`njapyjpr#hfidhdm('ifrnb'.

]j lnam }cd fydf jl }cd 46r} hfidhdm bjkpjada}#`yfna jl ynbd.( fbbdrr

}cd Fydf lndhm na }cd 46r} dhdkda} na }cd `yfnamf}fr}ytb}tyd

fyyf~! Aj}d }cf} r}ytb}tyd lndhm afkdr fyd bfrdrdarn}n|d!

fydf46 ; `yfnamf}f#46.!Fydf


13/30

kfsFydf ; kfs#W`yfnamf}f!Fydf[.

kdfaFydf ; kdfa#W`yfnamf}f!Fydf[.

cnr}#W`yfnamf}f!Fydf[(9?.

Byjppna` fa Nkf`d Trna` }cd Byjp Nkf`d]jjh


14/30

Bja|dy}na` f Kth}nlyfkd Nkf`d }j fKj|nd

]j bydf}d f KF]HFI kj|nd lyjk f kth}nlyfkdnkf`d fyyf~( trd }cd nkkj|nd ltab}nja

]j phf~ }cd kj|nd( trd }cd kj|ndltab}nja!kj|nd#kj|.7

kyn ; tna}3#udyjr#693(693(6(90..7 ljy lyfkd;6590

Wkyn#5(5(5(lyfkd.(kfp[ ;nkydfm#'kyn!}nl'(lyfkd.7

dam

kj| ; nkkj|nd#kyn(kfp.7

kj|nd#kj|.7


15/30

Y@I ; nkydfm#opdppdyr!pa`'.7

nkrcj#Y@I.

cnkf`d ; nkrcj#'pjt}!}nl'.

cpnsdhnaljpfadh ; nkpnsdhnalj#cnkf`d.7

cmyfa`dpfadh ; nkmnrphf~yfa`d#cnkf`d.7 cpnsyd` ; nkpnsdhyd`nja#cnkf`d.7


16/30

Rbyjhh pfafh

cln` ; ln`tyd#']jjhify'('ajad'(!!!

'Kdatify'( 'ajad'.7

cnkf`d ; nkrcj#'bjabjymfdynfh!pa`'.7

cpfadh ; nkrbyjhhpfadh#cln`(cnkf`d.7

Hfy`dy nkf`d }jjh

in`Znkf`d ; nkydfm#'pdppdyr!pa`'.7

k~Zhfy`dZnkf`dZmnrphf~#in`Znkf`d.


17/30

Ydrnuna` fa nkf`d

N ; nkydfm#'bnybtn}!}nl'.7

E ; nkydrnud#N(6!94.7

nkrcj#N.

ln`tyd( nkrcj#E.

Yj}f}na` fa Nkf`d

N ; nkydfm#'bnybtn}!}nl'.7 E ; nkyj}f}d#N(24('inhnadfy'.7

nkrcj#N.

ln`tyd( nkrcj#E.


18/30

Ydfm nkf`d fam mnrphf~

n}!yì;nkydfm#'janja!pa`'.7

nkrcj#yì.7

Bydf}d fa namdsdm nkf`d n}c dn`c}bjhjyr fam n}cjt}

mn}cdyna`! WSZajZmn}cdy(kfp[; yì9nam#yì(3('ajmn}cdy'.7

ln`tyd( nkrcj#SZajZmn}cdy(kfp.7

Bydf}d fa namdsdm nkf`d trna` dn`c} bjhjyr n}c

mn}cdyna`!

WSZmn}cdy(kfp[;yì9nam#yì(3('mn}cdy'.7

ln`tyd( nkrcj#SZmn}cdy(kfp.7


19/30

Pjygna` na Ydfh ]nkd

@d}}na` Cfymfyd naljykf}nja

]j r}fy} n}c jygna` na ydfh }nkd( ~jt ktr}cf|d f ltab}njafh TRI dibfkbjaadb}dm }j ~jty _B fam n}r myn|dynar}fhhdm!

KF]HFI cfr itnh}+na fmfp}jyr ljy fbbdrrna`}cdrd md|nbdr! Fa fmfp}jy nr f rjl}fyd

}cf} KF]HFI trdr }j bjkktanbf}d n}c fankf`d fbvtnrn}nja md|nbd!


20/30

11 nkfvcnalj $ r}famr ljy nkf`dfbvtnrn}nja cfymfyd nalj

11 bfk;nkfvcnalj7

11 bfk!Nar}fhhdmFmfp}jyr

]j `d} kjyd naljykf}nja fijt} }cdmd|nbd( }~pd

11md|Znalj ; nkfvcnalj#'na|nmdj'(6.


21/30

Nl ~jt fyd trna` f hfp}jp( ~jt kf~ fhrjcf|d f dibfk na n}! Rj aj}d mja }cd

Md|nbdAfkd rcja fr fij|d! Nl n} nr aj}}cd TRI dibfk( }cda pyjifih~ Md|nbdNM; 9 rcjthm jyg! Cdabd( }~pd

11md|Znalj ; nkfvcnalj#'na|nmdj'(9.


22/30

_yd|ndna` |nmdj

^jt bfa pyd|nd }cd |nmdj bfp}tydm i~ }cd

bfkdyf i~ mdlnana` fa jiedb} #rf~ i~ }cd afkd|nm. fam frrjbnf}d n} n}c }cd md|nbd!

11|nm;|nmdjnapt}#'na|nmdj'(6( '^T^9Z6


23/30

11 pyd|nd#|nm.

^jt bfa bcdbg jt} }cd pyd|nd n}cmnlldyda} ljykf}r! ^jt nhh rdd }cf} }cd rnudjl pyd|nd namj bcfa`dr! Trd f ljykf}}cf} rtn}r ~jty rnud ydvtnydkda}!


24/30

Bfp}tyna` Nkf`dr

Aj ~jt cf|d f |nmdj r}ydfk f|fnhfihd

fam ~jt addm }j bfp}tyd r}nhh nkf`dr lyjkn}! Ljy }cf}( trd `d}rafprcj}#. bjkkfam!

11nk;`d}rafprcj}#|nm.7

$ cdyd |nm nr |nmdj napt} jiedb} Cdydnk nr }cd 2M kf}yns fam ~jt bfa rdd }cdnkf`d i~ }cd trtfh nkrcj#. bjkkfam

11nkrcj#nk.7


25/30

11nk;~biby9y`i#nk.7

11nkrcj#nk.7

11nkyn}d#nk('k~nkf`d!ep`'.7

]cd lnhd k~nkf`d!ep` nr rf|dm na }cdbtyyda} jygna` mnydb}jy~!


26/30

|nm;|nmdjnapt}#'na|nmdj'(6('^T^9Z6


27/30

^jt cf|d }j mdlnad }cd pnar 9+> fr jt}pt}pnar( i~ trna` fmmhnad#. ltab}nja

11 fmmhnad#pfypjy}(?50('jt}'.

Aj pt} }cd mf}f cnbc ~jt fa} }jjt}pt} #mdpdamr ja kj}njar jl yjij}ydvtnydm. }j }cd pfyfhhdh pjy} na}j f kf}yns#Rdd ltab}nja hj`nbfh#. na KF]HFI Cdhp.7 d!`!

11 mf}fjt} ; hj`nbfh#W6 6 ? 6 ? 6 ? 6[.7


28/30

]j fbbdrr }cd pfyfhhdh pjy} na KF]HFI(mdlnad fa jiedb}7 hd}r rf~ i~ }cd afkd

pfypjy}

11 pfypjy} ; mn`n}fhnj#'pfyfhhdh'('H_]6'.7 ^jt

kf~ ji}fna }cd pjy} fmmydrr trna`( 11`d}#pfypjy}('_jy}Fmmydrr'. 11mfvcnalj#'pfyfhhdh'.7


29/30

Mf}ffbvtnrn}njapyj`yfkkna`


30/30

HDM ihnagna`

Bjta}dy mnrphf~

K~ yjij!

Cjkd fpphnfabdr r~r}dk

Ituudy#rpdfgdy .

ROBOT USING MATLAB

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