Obstacle avoidance and how to create workspace and configuration space

Hi guys, I am doing a project in which I have to create a 3R planar robot and 2 obstacles. Now what I really want to do is to draw the robot's workspace and configuration space to show the obstacle avoidance in real time.

Answer 1

[Steve Miller]

There are many ways to do this. The two primary methods would be to import an environment with obstacles from CAD or to create your obstacles in Simscape Multibody natively. You could use both at the same time (for example, environment from CAD and obstacles from Simscape Multibody).

I would guess it would be valuable to be able to move, orient, and resize your obstacles based on MATLAB data, so I think I would recommend trying to create your obstacles in Simscape Multibody. Take a look at the Simscape Multibody Parts Library and Simscape Multibody Mini Golf Library for some inspiration.

--Steve