Control

The control system requires the robot representation using the Denavit–Hartenberg parameters. This enable to evaluate the Direct and Inverse Kinematic of the robot manipulator, in other words find the robot actuator position for a given joint configuration or select the joint angles for a given actuator position.

The motion control is made in MATLAB by combine the robotic model representation with Arduino interface. This are represented by the LexyRobot Class as a module itself. All the commands from the Model Representation and from Arduino are connected there. In this way, is possible to command the robot without the GUI or even create a complete new GUI.

Tests is other very important part of any robotic project. Every time to test and calibrate something. In this project all the test routine used and some side tasks are located inside the file testLexyRobot.m. There is possible to learn how each feature is used. Side inside the GUI can be tricky due all the extra things required to the user interface.