The PIERO robot can have an optional 4 Dof’s manipulator arm.
The arm can be attached as a removible module for the PIERO since version V3.0.
This arm is fully integrated in simulink, and special functions are provided for basic speed and position joint control. It has been successfully used for degree education in robotics. The students can develop direct and inverse kinematic models.
The video show the PIERO V2. with the arm attached.
The system uses 4 dynamixel servos and a Simulinnk arduino s-function has been developed to references to the servos using a serial port.
If you are interested in using these simulink blocks, please contact J. Manuel Gómez at firstname.lastname@example.org
Programming a Cartesian trajectory using Simulink and matlab
Goal of this problem is summarized in the attached document.
With the inverse kinematic model, the students can execute a rectilinear Cartesian trajectory of the robot end effector as show:
Yes. Here it is: