Modélisation géométrique d’un bras robotique Manipulateur

Abstract

In this master thesis project, we are interested in modeling the movement of a manipulator robot with three degrees of freedom. According to the latest research in this field, we are did analytical developments on the homogeneous transformation matrix of our choice of the robot (3ddl). Then, a design of this robot made by SolidWorks software and explored it on Matlab / Simulink which allowed us to generate the graphical interface to manipulate the movement of the robot using the direct geometric model