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Code For T and V Matrices

The document contains MATLAB code that defines the parameters of a 7 link robotic arm and calculates the forward kinematics, angular velocities, and linear velocities of each link. Symbolic variables are used to represent the joint angles and transformations between each link are defined using 4x4 homogeneous transformation matrices. The angular and linear velocities of each link are then propagated from the base to the end effector.

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miro1993
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41 views2 pages

Code For T and V Matrices

The document contains MATLAB code that defines the parameters of a 7 link robotic arm and calculates the forward kinematics, angular velocities, and linear velocities of each link. Symbolic variables are used to represent the joint angles and transformations between each link are defined using 4x4 homogeneous transformation matrices. The angular and linear velocities of each link are then propagated from the base to the end effector.

Uploaded by

miro1993
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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11/29/14 4:37 PM

C:\Users\win\Desktop\477 project\project.m

clc
syms t1 t2 t3 t4 t5 t6 t7
a1=0;a2=350;a3=1150;a4=0;a5=0;a6=0;a7=0;
d1=0;d2=0;d3=0;d4=1200;d5=0;d6=0;d7=0;
alf1=0;alf2=-90*pi/180;alf3=0;alf4=90*pi/180;alf5=-90*pi/180;alf6=90*pi/180;
alf7=0;
syms alf1 alf2 alf3 alf4 alf5 alf6 alf7
t2=t2+90;
T1=[cos(t1),-sin(t1),0,a1;...
sin(t1)*cos(alf1),cos(t1)*cos(alf1),-sin(alf1),-sin(alf1)*d1; ...
sin(t1)*sin(alf1),cos(t1)*sin(alf1),cos(alf1),cos(alf1)*d1; ...
0,0,0,1];
T2=[cos(t2),-sin(t2),0,a2;
sin(t2)*cos(alf2),cos(t2)*cos(alf2),-sin(alf2),sin(alf2)*d2;
sin(t2)*sin(alf2),cos(t2)*cos(alf2),-sin(alf2),-sin(alf2)*d2;
0,0,0,1];
T3=[cos(t3),-sin(t3),0,a3;
sin(t3)*cos(alf3),cos(t3)*cos(alf3),-sin(alf3),sin(alf3)*d3;
sin(t3)*sin(alf3),cos(t3)*cos(alf3),-sin(alf3),-sin(alf3)*d3;
0,0,0,1];
T4=[cos(t4),-sin(t4),0,a4;
sin(t4)*cos(alf4),cos(t4)*cos(alf4),-sin(alf4),sin(alf4)*d4;
sin(t4)*sin(alf4),cos(t4)*cos(alf4),-sin(alf4),-sin(alf4)*d4;
0,0,0,4];
T5=[cos(t5),-sin(t5),0,a5;
sin(t5)*cos(alf5),cos(t5)*cos(alf5),-sin(alf5),sin(alf5)*d5;
sin(t5)*sin(alf5),cos(t5)*cos(alf5),-sin(alf5),-sin(alf5)*d5;
0,0,0,1];
T6=[cos(t6),-sin(t6),0,a6;
sin(t6)*cos(alf6),cos(t6)*cos(alf6),-sin(alf6),sin(alf6)*d6;
sin(t6)*sin(alf6),cos(t6)*cos(alf6),-sin(alf6),-sin(alf6)*d6;
0,0,0,1];
T7=[cos(t7),-sin(t7),0,a7;
sin(t7)*cos(alf7),cos(t7)*cos(alf7),-sin(alf7),sin(alf7)*d7;
sin(t7)*sin(alf7),cos(t7)*cos(alf7),-sin(alf7),-sin(alf7)*d7;
0,0,0,1];
T_global=T1*T2*T3*T4*T5*T6*T7;
%%Velocity Propagation
R1_0=inv([T1(1:3,1:3)]);R2_1=inv([T2(1:3,1:3)]);R3_2=inv([T3(1:3,1:3)]);
R4_3=inv([T4(1:3,1:3)]);R5_4=inv([T5(1:3,1:3)]);R6_5=inv([T6(1:3,1:3)]);
R7_6=inv([T7(1:3,1:3)]);P1=[T1(1:3,3)];P2=[T2(1:3,3)];P3=[T3(1:3,3)];
P4=[T4(1:3,3)];P5=[T5(1:3,3)];P6=[T6(1:3,3)];P7=[T7(1:3,3)];
w0=[0;0;0];v0=[0;0;0];w1=R1_0*w0+[0;0;t1];v1=R1_0*(v0+cross(w0,P1));
w2=R2_1*w1+[0;0;t2];v2=R2_1*(v1+cross(w1,P2));
w3=R3_2*w2+[0;0;t3];v3=R3_2*(v2+cross(w2,P3));
w4=R4_3*w3+[0;0;t4];v4=R4_3*(v3+cross(w3,P4));
w5=R5_4*w4+[0;0;t5];v5=R5_4*(v4+cross(w4,P5));
w6=R6_5*w5+[0;0;t6];v6=R6_5*(v5+cross(w5,P6));
w7=R7_6*w6+[0;0;t7];v7=R7_6*(v6+cross(w6,P7));
V1=[w1;v1];V2=[w2;v2];V3=[w3;v3];V4=[w4;v4];
V5=[w5;v5];V6=[w6;v6];V_endeffector=[w7;v7];

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11/29/14 4:37 PM

C:\Users\win\Desktop\477 project\project.m

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