Scribd
Upload
78 views4 pages

LAB1 Report File

This document describes a lab experiment to design and simulate a 2 degree of freedom (RR) planar manipulator using VREP. The manipulator consists of a fixed base with two revolute joints and two links. Forward and inverse kinematics equations are provided to calculate the end effector position from the joint angles or vice versa. The method describes building the manipulator in VREP by adding the base, joints and links then simulating motion by specifying joint velocities in a child script. The results show the manipulator successfully simulating movement as intended, validating the practical experiment.

Uploaded by

tawanda
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
78 views4 pages

LAB1 Report File

This document describes a lab experiment to design and simulate a 2 degree of freedom (RR) planar manipulator using VREP. The manipulator consists of a fixed base with two revolute joints and two links. Forward and inverse kinematics equations are provided to calculate the end effector position from the joint angles or vice versa. The method describes building the manipulator in VREP by adding the base, joints and links then simulating motion by specifying joint velocities in a child script. The results show the manipulator successfully simulating movement as intended, validating the practical experiment.

Uploaded by

tawanda
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
You are on page 1/ 4

EEE421 ROBOTICS LAB

Group Members

(a).Tawanda R Munyanyi H1180163Z

(b).

(c).

Question

Design a 2 D.O.F (RR) planar manipulator using VREP.

Abstract

A 2R planar robot was built using Vrep.

Aim

To see how the two jointed arms moves in relation to the fixed base.

Introduction

A 2R planar manipulator is a robot with 2 degrees of freedom, due to its only two independently
moving variables. It has 2 revolute joints which are motor actuated. For the position of the end
effector at any given time the forward kinematics equations can be found as:

X = L1cosθ1 + L2cos(θ1+θ2)

Y = L1sinθ1 + L2sin(θ1+θ2)

This is finding the robot’s distance from the origin to where the end effector is.
Also, using the inverse kinematics of this robot which is the opposite of forward kinematics can
be used to determine the angles of rotation having the known link lengths. The equations can be
generalized as:

Method

 Open Vrep
 Add base using a primitive shape(cuboid) at position x = 0.0, y = 0.0 and z = 0.75
 Add revolute joint at position: x = 0.05, y = 0.0 and z = 1.5.
 Add link1 at position x = 0.075, y =0.225 and z = 1.5
 Copy the revolute joint which will copy both the joint and the first link
 Move it to the end of the first link forming a two-link manipulator.
 Remove the dynamic properties of the two links, then change the revolute joint properties
to force\torque mode and make them motor actuated
 Add a non-threaded child script to the base
 Specify the joint velocity in the child script
 Simulate

Results and analysis


This shows the 2R planar before the simulation

The 2R planar during simulation


Discussion

During the first stages of trying to simulate the robot it was falling apart, until we changed the
dynamic properties of the links

Conclusion

The 2R planar which we were building simulated as expected which deemed the practical a
success.

You might also like