Fixed-Base Robot Dynamics Analysis Program

This text introduces a MATLAB-based program developed for analyzing the dynamics of fixed-base robots. The program operates within the Simulink environment, providing users with both convenience and flexibility in dynamic simulations. Through this implementation, users can gain deeper insights into robotic dynamic characteristics and motion patterns using MATLAB's built-in functions for rigid body dynamics and simulation algorithms. This analytical tool assists engineers in designing and optimizing robotic systems more effectively, thereby enhancing performance and efficiency. The program employs key algorithms including forward dynamics calculation, inverse dynamics solution, and motion trajectory generation through Simulink blocks and S-functions. Additionally, the program features extensible architecture allowing customization through MATLAB scripting and Simulink model modifications to accommodate various user requirements and research objectives. The code structure incorporates modular design principles, separating kinematic calculations, dynamic equations, and control systems into distinct functional blocks. Overall, this program serves as a powerful tool for engineers and researchers working with fixed-base robots, facilitating comprehensive understanding and application of robot dynamics analysis through integrated simulation and visualization capabilities.