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MATLAB Command Window: The Phi Apim1 Aim1 Ti Di L1 L2 L3 t1 t2 t3

The document defines transformation matrices (T) to represent the kinematics of a 3-link robot arm using Denavit-Hartenberg parameters. It then evaluates these matrices for 3 test cases with different joint angle configurations (θ1, θ2, θ3) and link lengths (L1, L2, L3).

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33 views3 pages

MATLAB Command Window: The Phi Apim1 Aim1 Ti Di L1 L2 L3 t1 t2 t3

The document defines transformation matrices (T) to represent the kinematics of a 3-link robot arm using Denavit-Hartenberg parameters. It then evaluates these matrices for 3 test cases with different joint angle configurations (θ1, θ2, θ3) and link lengths (L1, L2, L3).

Uploaded by

jiyoungryu
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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MATLAB Command Window

>> % Declare the symbolic variables


syms the phi apim1 aim1 ti di L1 L2 L3 t1 t2 t3
% Enter the formula for T T:(i-1)-->(i)
T= [cos(ti) -sin(ti) 0 aim1;...
sin(ti)*cos(apim1) cos(ti)*cos(apim1) -sin(apim1) -sin(apim1)*di;...
sin(ti)*sin(apim1) cos(ti)*sin(apim1) cos(apim1) cos(apim1)*di;...
0 0 0 1];
% DH Parameters for i=1
T10=eval(subs(T,{apim1,aim1,di,ti},{0,0,0,t1}));
% DH Parameters for i=2
T21=eval(subs(T,{apim1,aim1,di,ti},{0,L1,0,t2}));
% DH Parameters for i=3
T32=eval(subs(T,{apim1,aim1,di,ti},{0,L2,0,t3}));
%TH3
TH3=eval(subs(T,{apim1,aim1,di,ti},{0,L3,0,0}));
T30=simplify(T10*T21*T32);
TH0=simplify(T10*T21*T32*TH3);
T30abb1=sym(regexprep(char(T30),'cos','c'));
T30abb=sym(regexprep(char(T30abb1),'sin','s'))
TH0abb1=sym(regexprep(char(TH0),'cos','c'));
TH0abb=sym(regexprep(char(TH0abb1),'sin','s'))
%Case i)
L=[4 3 2];
the1=pi/180.*[0 0 0];
T30case1=eval(subs(T30,{t1,t2,t3,L1,L2,L3},{the1(1),the1(2),the1(3),L(1),L(2),L(3)}))
TH0case1=eval(subs(TH0,{t1,t2,t3,L1,L2,L3},{the1(1),the1(2),the1(3),L(1),L(2),L(3)}))
%Case ii)
the2=pi/180.*[10 20 30];
T30case2=eval(subs(T30,{t1,t2,t3,L1,L2,L3},{the2(1),the2(2),the2(3),L(1),L(2),L(3)}))
TH0case2=eval(subs(TH0,{t1,t2,t3,L1,L2,L3},{the2(1),the2(2),the2(3),L(1),L(2),L(3)}))
%Case iii)
the3=pi/180.*[90 90 90];
T30case3=eval(subs(T30,{t1,t2,t3,L1,L2,L3},{the3(1),the3(2),the3(3),L(1),L(2),L(3)}))
TH0case3=eval(subs(TH0,{t1,t2,t3,L1,L2,L3},{the3(1),the3(2),the3(3),L(1),L(2),L(3)}))
T30abb =
[ c(t1 + t2 + t3), -s(t1 + t2 + t3), 0, L2*c(t1 + t2) + L1*c(t1)]
[ s(t1 + t2 + t3), c(t1 + t2 + t3), 0, L2*s(t1 + t2) + L1*s(t1)]
[
0,
0, 1,
0]
[
0,
0, 0,
1]

TH0abb =

Page 1

MATLAB Command Window

Page 2

[ c(t1 + t2 + t3), -s(t1 + t2 + t3), 0, L2*c(t1 + t2) + L1*c(t1) + L3*c(t1 + t2 + t3)]


[ s(t1 + t2 + t3), c(t1 + t2 + t3), 0, L2*s(t1 + t2) + L1*s(t1) + L3*s(t1 + t2 + t3)]
[
0,
0, 1,
0]
[
0,
0, 0,
1]

T30case1 =
1
0
0
0

0
1
0
0

0
0
1
0

7
0
0
1

0
1
0
0

0
0
1
0

9
0
0
1

TH0case1 =
1
0
0
0

T30case2 =
0.5000
0.8660
0
0

-0.8660
0.5000
0
0

0
0
1.0000
0

6.5373
2.1946
0
1.0000

-0.8660
0.5000
0
0

0
0
1.0000
0

7.5373
3.9266
0
1.0000

TH0case2 =
0.5000
0.8660
0
0

T30case3 =
0
-1
0
0

1
0
0
0

0
0
1
0

-3
4
0
1

-3

TH0case3 =
0

MATLAB Command Window


-1
0
0
>>

0
0
0

0
1
0

2
0
1

Page 3

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