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Engineering Robotics Practical Lab

The document describes a lab exercise to model the forward kinematics of a 2 degree of freedom planar manipulator using MATLAB Simulink. It provides the group members, questions to be answered, introduction to forward kinematics, equations to be modeled, requirements, instructions, results and discussion, and conclusion. The forward kinematics equations relate the joint angles to the end effector position using link lengths and trigonometric functions. The model was successfully created in Simulink and results were verified with graphs showing the x and y position outputs.

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tawanda
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208 views

Engineering Robotics Practical Lab

The document describes a lab exercise to model the forward kinematics of a 2 degree of freedom planar manipulator using MATLAB Simulink. It provides the group members, questions to be answered, introduction to forward kinematics, equations to be modeled, requirements, instructions, results and discussion, and conclusion. The forward kinematics equations relate the joint angles to the end effector position using link lengths and trigonometric functions. The model was successfully created in Simulink and results were verified with graphs showing the x and y position outputs.

Uploaded by

tawanda
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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EEE421 LAB 2 EXERCISE

GROUP MEMBERS

Tawanda R Munyanyi : H180163Z

Tino Mdhra : H180690F

Nyaradzai Mapfumo : H180488Y

QUESTION

1. Using the Simulink (MATLAB) package, model the forward kinematics equations for
a 2 D.O.F planar manipulator and simulate.
2. Verify simulation results using a graph.
3. Prepare a write up.

NB* Use Atan2 function in place of tan-1 [20]

INTRODUCTION

For a planar manipulator, the forward kinematics is essential to find the orientation and
position of the end-effector in cartesian space with the help of all joint angle and link
parameters. With the help of all joint angles, forward kinematics gives only one exact
solution.

MATLAB Simulink was used to model the forward kinematics equations of a 2 D.O.F planar
manipulator. These equations are:

x = L1cosθ1 + L2cos(θ1+θ2)----(i)

y = L1sinθ1 + L2sin(θ1+θ2)----(ii)

where L1 and L2 are trigonometric function gains.

Equation (i) and (ii), shows the position of the robot with respect to the x and y directions.

On simulating, two graphs were plotted to verify the solutions of the equations (i) and (ii).

Theses graphs show the output of the 2 positional equations i.e. x and y.

REQUIREMENTS

 Computer
 Simulink (MATLAB) software

INSTRUCTIONS

 Open MATLAB Simulink,


 Add constants Ɵ1 and Ɵ2
 Add trigonometry functions sin and cos
 Add trigonometric function gain blocks . Ll is 15m, L2 = 5m.
 Add summer block for Ɵ1 and Ɵ2
 Add summer to get y and x according to the equations above
 Add scopes to get the values of x and y

RESULTS AND DISCUSSION


In order to validate the forward kinematic equations, a 2 D.O.F planar robot has been
fabricated and controlled using the solutions of equations obtained by solving in MATLAB.

The model of the forward kinematics equations for a 2 D.O.F planar manipulator is shown
below along with the X1 & Y1 graphs respectively.
CONCLUSION

The model of the forward kinematics equations for a 2 D.O.F planar manipulator was
successfully designed and simulated using the Simulink (MATLAB) package. Simulation
results were verified using the graphs.

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