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1
The dimensions of the robot are as shown in figure 2.
Figure 3 shows the front view of the model with appropriate labels.
Figure 5 shows the robot in various stages of its demonstration motion, with
sample motions given to all the joints simultaneously.
2
Figure 3: Front View of the MTAB MINI Robot with labels
3
(a) (b)
(c) (d)
(e)
4
Figures 6 and 7 show the position and velocity of the COM of the end af-
fector for this demonstration, with sample motions. For a real run case, these
graphs contain crucial information that need to be taken of when the robot is
made part of a bigger system.
5
• Simulating the model with appropriate motions.