Uploaded July 2025 | Updated September 2026, 17 hours ago
Watch this 4-Wheel Differential Drive Robot intelligently follow a complex path using a LQR Controller in MATLAB!
This real-time animation features smooth tracking, minimal error, and visually aesthetic robot motion with plotted performance graphs.
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Watch this 4-Wheel Differential Drive Robot intelligently follow a complex path using a LQR Controller in MATLAB!
This real-time animation features smooth tracking, minimal error, and visually aesthetic robot motion with plotted performance graphs.
π Want the full code file?
π‘ Grab it now: engrprogrammer-shop.fourthwall.com/products/lqr-controlled-differential-drive-robot-trajectory-tracking-in-matlab
π Ideal for:
Students
Robotics engineers
Control systems learners
MATLAB hobbyists & educators
π© Questions or collabs?
Reach out: mrengineer294@gmail.com
π¬ Like what you see?
π Like | π Subscribe | π¬ Comment | π Share
Let me know what projects you'd love to see next!
Thanks for watching!
Best,
TODAYS TECH
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matlab pid controller
trajectory tracking matlab
robot path tracking
differential drive robot
4-wheel robot simulation
control systems project
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![MN5621 Computer Aided Engineering 1 Resit | Synthesis and Dynamic Simulation of a six-bar linkage
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βWelcome to todays tech.. this video is about the solution of MN5621 Computer Aided Engineering 1 Resit | Synthesis and Dynamic Simulation of a six-bar linkage
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πQuestion 1 (55 points):
Given a robot mechanism with the dimensions as shown in separately the attached
figures, answer the following questions 1-7.
Given ΞΈ2 (see it in the figure), Ο2 = 25 rad/sec, and Ξ±2 = 15 rad/sec2, and taking gravity
acceleration as 9.81m/sec2, answer the following questions 1-7.
The mass density is Ο=100000kg/m3, and the link thickness T is 0.005 m. There is an
external force of Fp acts on the link, applied at point p and lp [m].
1) Find the values of ΞΈ3, ΞΈ4, Ο3, Ο4, Ξ±3, and Ξ±4.
2) Find the accelerations of AA (m/sec2), ABA (m/sec2), AB (m/sec2), AC (m/sec2).
3) Find the centre of mass values lg2, lg3, lg4 of links 2, 3, and 4.
4) Find the mass moment of inertia (kgΒ·m2) about the centre of mass of links 2, 3,
and 4.
5) Find the values of Ag2, Ag3, Ag4 (at the centre of mass) of links 2, 3, and 4.
6) Find the force and moment equations for dynamic force analysis on links 2, 3,
and 4, and cast the equations in the matrix form, and find the values for F12 (F12x
and F12y), F32 (F32x and F32y), F43 (F43x and F43y), and F14 (F14x and F14y), at the joints
and the driving torque Ο2 [NΒ·m] needed to maintain motion with the given
angular velocity, and acceleration, Ο2 = 25 rad/sec and Ξ±2 =15 rad/sec2,
respectively, for this instantaneous position of the link (please use MATLAB to
calculate the derived matrix, add all the codes to the assignment, and upload
them on Wiseflow).
7) Find the position of Point P measured with respect to O2.
πQuestion 2 (25 points):
For the robot mechanism described in Question 1, simulate it for the case in which the
motion begins with a given crank angle ΞΈ2[rad] (find it in the figure), a given crank
angular velocity Ο2 = 0 rad/s and a given angular acceleration Ξ±2 = 0.45 rad/s2 in link 2.
The matrix equation (matrix form in Question 1) is solved using a MATLAB User
defined function that will take all of the integrator outputs as input arguments (Figure
1).
1) Plot the values of ΞΈ2, ΞΈ3, and ΞΈ4 for the first 2 seconds.
2) Plot the values of Ο2, Ο3, and Ο4 for the first 2 seconds.
3) Plot the values of Ξ±2, Ξ±3, and Ξ±4 for the first 2 seconds.
4) Plot the values of AA AB, and AC at points A, B, and C for the first 2 seconds.
5) Plot the values of Ag2 Ag3, and Ag4 (at the centre of mass) of links 2, 3, and 4 for
the first 2 seconds.
6) Plot F12 (F12x and F12y), F32 (F32x and F32y), F43 (F43x and F43y), and F14 (F14x and F14y),
at the joints and the driving torque Ο2 needed to maintain motion for the first 2
seconds.
7) Plot the coupler curve (plot x positions versus y positions) at the point of the
centre of mass at Point P for the first 2 seconds.
πQuestion 3 (20 points):
Create links respectively refereeing to the dimensions as shown above, and assemble
them using any Solidworks versions.
1) You need to check whether the assembled mechanism works or not. If
the design of the parts and the assembly are correct, the mechanism will
work when link 2 is rotated by you.
2) Denote almost the same dimensions of the mechanism as
shown above, and save them. You can denote the
dimensions on Assembly design using Smart Dimension tool.
3) In the assignment, you need to put the screen capture
images of your assembly design and Feature Manager
Design Tree as shown below.
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