Simulation and Modeling of 6-DOF Robot Manipulator Using Matlab Software

Mechanical robotic arms have been developing in a substantially complete manner in recent years. Robotic arms can support people in remote areas or in various regions where access is limited to move objects easily and perform things with high speed and precision. A robotic arm is basically a mechanical arm which is programmable with performance same as a human arm. Robotic arms can be a part or total mechanism of a complex robot. Robotic hands are capable of doing any work that is required in designs such as painting, welding an object and so on. For example, robotic arms are doing a variety of tasks such as drilling, nut tightening of   rotating parts and spare parts in the assembly lines of    car factories. The purpose of this paper is design of a robotic arm with 6 DOF and motion simulation using a MATLAB software code and Simulink modeling. The equations of position, angles and paths are being controlled using a GUI interface. By the slider controls in the coding position angle and path of motion range will be displayed and path traces are drawn by tracking the arm movements in 3D-space using a system block of individual joints in the diagram of Simulink environment.