Modelling and simulation of a prismatic: prismatic robotic arm manipulator

Abstract

Robotic manipulators involve the motion in 3D space. The motion of the manipulator is usually done through rotational movements using rotational joints, and/or through translational movements using prismatic joints. In this work, a prismatic-prismatic robotic arm is modeled in a matrix form and then it is simulated through MATLAB©. The simulation solves the dynamic of the system numerically. The motion of the manipulator’s end-effector of the double prismatic joints is observed.