How to find the workspace of robot from SimMechanics?

I am working on project of modeling of 4 DOF robot and 3D model has done and want to find the workspace analysis from SimMechanics. Could anybody explain how to initiate the workspace (forward and backward kinematics) from simmechanic and any good examples to study the process? Thanks

Answer 1

[Steve Miller]

It probably depends a little on the sequence, orientation, and type(prismatic, revolute) of degrees of freedom that your robot has.

1. You can certainly put a Transform Sensor at the tip of your robot and sweep the angles/positions of the joints. Some knowledge of the robot will be needed to ensure the sweep sequence makes sense.
2. You can use inverse kinematics to determine the joint angles that will get the end effector where it needs to go. In that scenario, you would be sweeping the end effector position and orientation.

--Steve