IntermediateMATLAB R2026a

4-DOF pick-and-place robot arm

A robot arm with a gripper that repeatedly picks and places a cube, designed model-based from scratch.

Animated robot arm picking and placing a cube — Pick-and-place cycle (animation)

Joint angles and gripper results — Joint and gripper results

Aim

Build a 4-DOF arm with kinematics, inverse kinematics, trajectory planning, joint drives and a Stateflow sequencer, and test normal and fault scenarios.

What you’ll learn

Forward and inverse kinematics
Trajectory planning
Joint drive dynamics and gripper control
Sequencing and fault handling with Stateflow

How to run it in MATLAB Online

Unzip the package we send you.
Go to matlab.mathworks.com and sign in (campus licence or MathWorks trial).
In MATLAB Drive, click Upload and choose the unzipped folder.
In MATLAB Online, open the folder and double-click the model (.slx) or run the start script named in README.
Press Run. Results appear in the scopes, dashboard or figures.

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