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LAB 11: Implementation of Forward Kinematics and Inverse Kinematics On 3 DOF Serial Manipulator in Matlab

This document outlines an lab experiment on implementing forward and inverse kinematics on a 3 degree of freedom (DOF) serial manipulator in MATLAB. The objectives are to learn forward and inverse kinematics using the Robotics Toolbox, graphical approaches, and Denavit-Hartenberg parameters. The lab covers forward kinematics using the toolbox, graphical approach and DH parameters. Inverse kinematics is covered using the toolbox and graphical approach. Pseudocode is provided to guide implementing the kinematic equations in MATLAB.

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Usman Ilamdin
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128 views

LAB 11: Implementation of Forward Kinematics and Inverse Kinematics On 3 DOF Serial Manipulator in Matlab

This document outlines an lab experiment on implementing forward and inverse kinematics on a 3 degree of freedom (DOF) serial manipulator in MATLAB. The objectives are to learn forward and inverse kinematics using the Robotics Toolbox, graphical approaches, and Denavit-Hartenberg parameters. The lab covers forward kinematics using the toolbox, graphical approach and DH parameters. Inverse kinematics is covered using the toolbox and graphical approach. Pseudocode is provided to guide implementing the kinematic equations in MATLAB.

Uploaded by

Usman Ilamdin
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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University of Engineering and Technology Lahore

Department of Mechatronics and Control Engineering

LAB 11: Implementation of Forward Kinematics and


Inverse Kinematics on 3 DOF Serial Manipulator in
MATLAB
OBJECTIVES:
 To learn Forward Kinematics on a 3 DOF manipulator using Robotics Toolbox
 To learn Inverse Kinematics on a 3 DOF manipulator using Robotics Toolbox
 To learn Forward Kinematics on a 3 DOF manipulator using Graphical approach
 To learn Inverse Kinematics on a 3 DOF manipulator using Graphical approach
 To learn Forward Kinematics on a 3 DOF manipulator using D-H Table

INTRODUCTION:
Forward Kinematics refers to the use of kinematic equations of a robot to compute the position of end-
effector from specified values for joint parameters. While Inverse Kinematics, in robotics, makes use of
kinematics equations in order to find joint parameters that provide a desire position for each of the robot’s
end-effector.

Forward & Inverse Kinematics using Robotics Toolbox:


Firstly, you have to know about your robot whose forward and inverse kinematics analysis would be
observed. By using “Robotics Toolbox by Peter Corke”, firstly run the file ‘startup_rvc.m’. By following
these instructions, design 3 DOF planar robot and follow these MATLAB commands for forward and
inverse kinematics analysis.

clc,clear
L1=1; L2=2; L3=1;
% L=Link([th d a alpha])
L(1)=Link([0 0 L1 0]);
L(2)=Link([0 0 L2 0]);
L(3)=Link([0 0 L3 0]);
R=SerialLink(L,'name','3 DOF Mnaipulator')
qo=[0 0 0];
q=[0 pi/2 -pi/2];
forw=R.fkine(q)
R.plot(q)
% R.teach
inv=R.ikine(forw,qo,'mask',[1 1 1 0 0 0])

MCT 351: Introduction to Robotics


Department of Mechatronics and Control Engineering, U.E.T. Lahore
University of Engineering and Technology Lahore
Department of Mechatronics and Control Engineering

Forward Kinematics using Graphical Approach:


You have done all the calculations of forward kinematics in theory lectures. Implement those equations in
MATLAB, and find the end-effector position for given orientation.

Figure 1: 3 DOF Planar Robot

Pseudo Code:
1. Specify link lengths
2. Specify theta1=0 and theta2=900 and theta3=-900

3. Write down the equations of forward kinematics


4. X1=__________
5. Y1=__________
6. X2=__________
7. Y2=__________
8. X3=__________
9. Y3=__________

10. Then plot the 2 DOF Robot


11. Properly label the diagram

Inverse Kinematics using Graphical Approach:


You have done all the calculations of inverse kinematics in theory lectures. Implement those equations in
MATLAB, and find the angles of both links for given end-effector position.

Pseudo Code:
1. Specify link lengths
2. Specify end-effector position x=2; y=2;

3. Write down the equations of inverse kinematics


4. Theta1=__________
5. Theta2=__________
6. Theta3=__________

MCT 351: Introduction to Robotics


Department of Mechatronics and Control Engineering, U.E.T. Lahore
University of Engineering and Technology Lahore
Department of Mechatronics and Control Engineering

7. In order to show the right position of end-effector use forward kinematic equations
8. Then plot the 2 DOF Robot
9. Properly label the diagram

Forward Kinematics using DH Table:


You have done all the calculations of inverse kinematics in theory lectures. Implement those equations in
MATLAB, and find the angles of both links for given end-effector position.

Pseudo Code:
1. Specify link lengths
2. Specify theta1=0 and theta2=900 and theta3=-900

3. Write down the transformation matrix


4. Write down the DH parameters for 3 DOF planar robot
5. Substitute the DH parameters in transformation matrix

6. Find matrix T01, T12 and T23


7. Then plot the 3 DOF Robot
8. Properly label the diagram

OBSERVATIONS:

MCT 351: Introduction to Robotics


Department of Mechatronics and Control Engineering, U.E.T. Lahore

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