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Assignment 1 (Me766) Himanshu Verma 170303 Vermahi@Iitk - Ac.In

The document describes generating the work volume of a 2 degree of freedom robotic arm and creating obstacles within that work volume. Various joint configurations of the arm are plotted on the work volume. The configuration space of the robotic arm is created by plotting the joint angles theta1 and theta2 and marking configurations where the arm collides with obstacles. Intersection tests are used to detect collisions between the arm segments and polygons representing the obstacles.

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Himanshu Verma
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65 views

Assignment 1 (Me766) Himanshu Verma 170303 Vermahi@Iitk - Ac.In

The document describes generating the work volume of a 2 degree of freedom robotic arm and creating obstacles within that work volume. Various joint configurations of the arm are plotted on the work volume. The configuration space of the robotic arm is created by plotting the joint angles theta1 and theta2 and marking configurations where the arm collides with obstacles. Intersection tests are used to detect collisions between the arm segments and polygons representing the obstacles.

Uploaded by

Himanshu Verma
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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ASSIGNMENT 1 (ME766)

HIMANSHU VERMA 170303 [email protected]

1> WORKVOLUME GENERATION FOR A 2 DOF 2D ROBOTIC ARM

L1 = 10;
L2 = 5;

H01=zeros(4,4);
H12=zeros(4,4);

theta1=0;
theta2 = 0;
alpha1 = 0;
alpha2 = 0;
d1 =0;
d2=0;
r1 = L1;
r2 = L2;

plot(0,0, '-s')
xlim([-(L1+10) L1+10]);
ylim([-(L1+10) L1+10]);
xlabel('X');
ylabel('Y');
hold;
for i = 1:360
theta1 = theta1+1
for j = 1:360
theta2 = theta2+1;
H01 = [cosd(theta1) -sind(theta1)*cosd(alpha1)
sind(theta1)*sind(alpha1) r1*cosd(theta1); sind(theta1)
cosd(theta1)*cosd(alpha1) -cosd(theta1)*sind(alpha1) r1*sind(theta1); 0
sind(alpha1) cosd(alpha1) d1; 0 0 0 1;];
H12 = [cosd(theta2) -sind(theta2)*cosd(alpha2)
sind(theta2)*sind(alpha2) r2*cosd(theta2); sind(theta2)
cosd(theta2)*cosd(alpha2) -cosd(theta2)*sind(alpha2) r2*sind(theta2); 0
sind(alpha2) cosd(alpha2) d2; 0 0 0 1;];
H02 = H01*H12;

X = H02(1,4);
Y= H02(2,4);
plot(X,Y ,'*')

end
theta2 =0;
end
2>CREATING AND PLOTTING VARIOUS OBSTACLES IN THE WORKVOLUME OF THE ROBOTIC ARM
pgon = polyshape([10 10 15 14 14], [8 7 8 11 13]);
plot(pgon)
hold
pgon1 = polyshape([-10 -10 -14 -14], [8 12 12 8]);
plot(pgon1)
n = 1000;
r=3
t = linspace(0,2*pi,n);
c = [5 -5];
x = c(1) + r*sin(t);
y = c(2) + r*cos(t);
pgon2 = polyshape(x,y);
plot(pgon2)

L1 = 10;
L2=5;
theta1 = 45;
theta2 = 30;

line([0 L1*cosd(theta1) L1*cosd(theta1)+L2*cosd(theta1+theta2)],[0


L1*sind(theta1) L1*sind(theta1)+L2*sind(theta1+theta2)],
'Color','red','LineWidth',3)
3>CREATING CONFIGURATION SPACE FOR THE ABOVE GENERATED OBSTACLES AND PLOTTING
THETA1 VS THETA2

polygon = polyshape([10 10 15 14 14], [8 7 8 11 13]);


square = polyshape([-10 -10 -14 -14], [8 12 12 8]);
n = 1000;
r=3
t = linspace(0,2*pi,n);
c = [5 -5];
x = c(1) + r*sin(t);
y = c(2) + r*cos(t);
circle = polyshape(x,y);
L1 = 10;
L2=5;

theta1=0;
theta2 = 0;
alpha1 = 0;
alpha2 = 0;
d1 =0;
d2=0;
r1 = L1;
r2 = L2;
plot(0,0, '-s')
xlim([0 360]);
ylim([0 360]);
xlabel('theta1');
ylabel('theta2');
hold
for i = 1:360
theta1 = theta1+1
for j = 1:360
theta2 = theta2+1;
H01 = [cosd(theta1) -sind(theta1)*cosd(alpha1)
sind(theta1)*sind(alpha1) r1*cosd(theta1); sind(theta1)
cosd(theta1)*cosd(alpha1) -cosd(theta1)*sind(alpha1) r1*sind(theta1); 0
sind(alpha1) cosd(alpha1) d1; 0 0 0 1;];
H12 = [cosd(theta2) -sind(theta2)*cosd(alpha2)
sind(theta2)*sind(alpha2) r2*cosd(theta2); sind(theta2)
cosd(theta2)*cosd(alpha2) -cosd(theta2)*sind(alpha2) r2*sind(theta2); 0
sind(alpha2) cosd(alpha2) d2; 0 0 0 1;];
H02 = H01*H12;

X1=H01(1,4);
Y1=H01(2,4);
X2 = H02(1,4);
Y2= H02(2,4);
arm1 = [0,0; X1,Y1];
arm2 = [X1,Y1;X2,Y2];
[a1,b1] = intersect(polygon, arm1);
[a2,b2] = intersect(polygon, arm2);
if (isempty(a1)==0) || (isempty(a2)==0)
plot(theta1,theta2, '+')
end
[a1,b1] = intersect(square, arm1);
[a2,b2] = intersect(square, arm2);
if (isempty(a1)==0) || (isempty(a2)==0)
plot(theta1,theta2, 'o')
end
[a1,b1] = intersect(circle, arm1);
[a2,b2] = intersect(circle, arm2);
if (isempty(a1)==0) || (isempty(a2)==0)
plot(theta1,theta2, 'x')
end

end
theta2 =0;
end

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