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Indsutrial Robotics LAB 10

The document discusses finding the velocity of a two link manipulator using the Jacobian matrix. It introduces jacobian matrices and how they relate joint velocities to end effector velocities. It then provides the procedure to open MATLAB, run a robot toolbox script, write a program for the jacobian of a two link manipulator, run the script, and calculate the velocity using the jacobian matrix.

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Huzzam Hassan
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25 views3 pages

Indsutrial Robotics LAB 10

The document discusses finding the velocity of a two link manipulator using the Jacobian matrix. It introduces jacobian matrices and how they relate joint velocities to end effector velocities. It then provides the procedure to open MATLAB, run a robot toolbox script, write a program for the jacobian of a two link manipulator, run the script, and calculate the velocity using the jacobian matrix.

Uploaded by

Huzzam Hassan
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 & Technology

LAB NO. 10
Conduct and Experiment to find the velocity of two link manipulator using jacobian.
OBJECTIVES:
• To learn about jacobian.
• To Find velocity of two link manipulator using jacobian matrix.
• To create a MATLAB code for the velocity of two link manipulator using Jacobian.

INTRODUCTION:
JACOBIAN MATRIXES:
Jacobian is Matrix in robotics which provides the relation between joint velocities ( q ) & end-effector
velocities ( x ) of a robot manipulator.

If the joints of the robot move with certain velocities, then we might want to know with what velocity the
end effector would move. Here is where Jacobian comes to our help. The relation between joint velocities
and end-effector velocities is given as below,

where,
• q is the column matrix representing the joint velocities. Size of this matrix is nx1. 'n' is the number
of joints of the robot.
• x is the column matrix representing the end-effector velocities. Size of this matrix is mx1. 'm' is
3 for a planar robot and 6 for a spatial robot.
• J is the Jacobian matrix which is a function of the current pose. Size of jacobian matrix is mxn.

PROCEDURE:
1. Open MATLAB and then open the Robot tool box in MATLAB.

2. Run the script file for the robot tool box.


3. Then open another script file and write a program for jacobian matrix of the two-link.

4. Run the script file.

J=
-0.5000 0
1.8660 1.0000
00
00
00
1.0000 1.0000
qdot =
1
1
v=

-0.5000
2.8660
0
0
0
2.0000

CONCLUSION:
In this lab we got ourselves familiarized with the Jacobian matrix. We also learned about writing a program
for a Jacobian Matrix and then we find the velocity (v) of two link manipulator using Jacobian matrix.

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