Robotics and Machinee Learning

This document describes a semester project to create a robotic arm that can write letters and words. The robot arm is based on the Predator robotic arm and has 6 degrees of freedom. The application involves programming the arm to write English capital letters and words using a 9-point writing system. The robot arm is defined and modeled in MATLAB code. Additional code files writeLetter.m and writeWord.m control the arm to write individual letters and words by following the 9-point coordinates. Challenges included issues with timing, adding a platform for the arm, and the orientation of the writing surface. Further work proposed improving the trajectory, adding more characters, and incorporating curves.

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Robotics and Machinee Learning

Uploaded by

Jasmin Hrvatovic

Available Formats

Download as PDF, TXT or read online on Scribd

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University of Jordan

Faculty of Engineering and Technology

Department of Mechatronics Engineering

Semester Project for Robotic Systems

A Writer Robotic Arm

Done by: Nama’ Al-Shamayleh

Supervisor: Lutfi Al-Sharif
Contents
• Introduction
• Robot Definition
• Application Description
• Codes
• Challenges
• Further Work
Introduction
• Robotic arms
• Predator
• Selected application
• Robotics Toolbox
Robot Definition
The robot in our project is inspired by
Predator robotic arm which is produced
by Kraft TeleRobotics.
It is a 6-degrees-of-freedom (DOF)
manipulator with all joints being
revolute.
Robot Definition: Overview
Robot Definition: Frames Positions
Robot Definition: Frames Orientation
Robot Definition: D-H Parameters

Modified Denivat-Hartenberg notation

Robot Definition: mdl_predator.m

% define links
L(1) = Revolute('d', 2.03, 'a', 1.56, 'alpha', pi/2);
L(2) = Revolute('d', 0, 'a', 8.75, 'alpha', 0);
L(3) = Revolute('d', 0, 'a', 5.66, 'alpha', 0);
L(4) = Revolute('d', 0, 'a', 1.21, 'alpha', -pi/2);
L(5) = Revolute('d', 0, 'a', 0, 'alpha', pi/2);
L(6) = Revolute('d', 0, 'a', 0, 'alpha', 0);

% connect the links to form the arm robot

predator = SerialLink(L, 'name', 'Predator')
Robot Definition: Workspace
Application Description
• The application that the robot will operate to achieve is
writing.
• The robot will be programmed to write English capital letters,
following the 9-point system of writing.
• The 9-points system describes a method of writing letters, but
the robot will be able to write words letter-by-letter.
Application Description: 9-Points System
Application Description: 9-Points System
Coordinates are chosen to be inside the workspace of the robot.
Application Description: 9-Points System
Letters A to K are shown below as written in the 9-points system.
Application Description: Writing Words
To write a word, the robot writes the first letter then moves to the right by 12 units to
start the next letter, and repeats this process until the word ends. See the figure
below for clearer explanation.
Codes
The code that makes the robot write is written in two matlab
script files:
1. writeLetter.m to write a letter in the required position.
2. writeWord.m that uses writeLetter.m to write letters of a
given word.
Codes: writeLetter.m
• The command writeLetter(‘C’, LN)makes the robot write
the letter ‘C’ in the position LN (means Letter Number).
• This function creates the appropriate 9 points, depending on
the letter's position, draw the shape of the letter using plot3
function, and finally write it using Cartesian trajectory function
ctraj.
• Nearly 700 lines of code needed to employ these operations.
• This function is case insensitive; it responses to upper- and
lower-case letters in the same way.
Codes: writeWord.m
• The command writeWord(‘anyword’)makes the robot write
the word “anyword”.

• This function opens a 3D plot with the right width to

accommodate the whole word, and then calls writeLetter
function for each letter in the word.
Codes: writeWord.m
This is the result when typing the command writeWord(‘Robotics’)in the
command window.
Codes

RUN
Challenges