Mirobot Textbook MATLAB
The Mirobot Textbook MATLAB is a dedicated educational resource that guides students through robotics programming, simulation, and control using MATLAB and Simulink with the WLKATA Mirobot 6-axis robotic arm. The textbook provides a structured learning path from MATLAB fundamentals and robotics theory through advanced topics including kinematic modeling, dynamic analysis, control system design, and hardware-in-the-loop (HIL) simulation—all grounded in practical exercises using the Mirobot as the target platform.
The curriculum covers essential robotics mathematics including homogeneous transformations, Denavit-Hartenberg parameters, forward and inverse kinematics, Jacobian analysis, and trajectory generation. MATLAB's Robotics System Toolbox is leveraged extensively for robot modeling, visualization, and algorithm development, while Simulink integration enables students to design and test control systems in a block-diagram environment before deploying to the physical Mirobot arm. This dual software-hardware approach reinforces theoretical concepts through tangible, observable results.
Each chapter follows a consistent pedagogical structure: learning objectives, mathematical theory, MATLAB implementation guides, simulation exercises, and hardware validation labs. This ensures students not only understand the underlying mathematics but can implement, simulate, and physically verify their work on real robot hardware. Topics progress from basic robot description and visualization through workspace analysis, singularity identification, velocity kinematics, force analysis, and closed-loop control design.
The textbook is ideal for university courses in robotics, mechatronics, and control systems where MATLAB is the institutional standard for engineering computation. It assumes basic MATLAB proficiency and introductory-level linear algebra and calculus knowledge. All MATLAB scripts, Simulink models, and supporting files referenced in the text are available for download, enabling students to follow along with every exercise and extend the provided examples for their own projects and research.
Specifications
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Format: Printed textbook (physical book)
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Target Platform: WLKATA Mirobot 6-axis robotic arm with MATLAB/Simulink
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MATLAB Toolboxes: Robotics System Toolbox, Simulink (recommended)
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Prerequisites: Basic MATLAB proficiency, introductory linear algebra and calculus
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Topics Covered: DH parameters, kinematics, Jacobians, dynamics, trajectory planning, control design, HIL simulation
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Target Audience: University students in robotics, mechatronics, and control systems courses
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Supplementary Materials: Downloadable MATLAB scripts, Simulink models, and project files
- Language: English
