Modeling and simulation of a robot with four degrees of freedom

This document show step by step the procedure to find the dynamic model of a robot with four degrees of freedom; this was achieved with the help of an important mathematical tool: The Langrage equations of motion. After finding the equations that govern the motion of the robot, the simulations of the obtained mathematical model were performed by using the Matlab-Simulink software, all this to graph the trajectory of the last robot link introducing different input parameters (torque) to the joints. The CAD design of the robot were performed by using SolidWorks software, this to find the physical properties of the robot links like mass, center of mass and moments of inertia.