Experiment No.

4 Forward kinematics

Aim: To perform the forward kinematics analysis for the given specification of robot arm and also obtain
the joint graph for the given model.

Model Joint offset Joint Angle Link Length Twist Angle Initial Value Final value
Variable 90 0.1 90 0.1 0.2
3 DOF – PRP 0.05 Variable 0.08 45 90 120
Variable 90 0.15 90 0.1 0.05
0.1 Variable 0.1 0 0 100
4 DOF – 0.1 Variable 0.15 180 90 60
SCARA Variable 0 0.1 0 0.1 0.2
0 Variable 0.15 45 0 100
Variable 90 0 90 0.1 0.2
Variable 90 0 90 0.1 0.2
5 DOF –
Variable 180 0 90 0.1 0.2
PPPRR
0.1 Variable 0 90 0 90
0 Variable 0.1 ‐90 30 90

Software Needed : Roboanalyzer

Theory

In the forward or direct kinematics, the joint positions, i.e. the angles of the revolute joints and
the displacements of the prismatic joints, are prescribed. The task is to find the end‐effector’s
configuration/transformation consisting of its position and orientation. After selecting a robot and
redefining DH parameters, forward kinematics (FKin) is performed which updates the 3D model.

To perform animation of the robot motion between two sets of initial and final values of joint
variable. The trajectory of joint values, joint velocities and joint accelerations follow Cycloidal trajectory.

Procedure:

1. Set the initial and final values of joint variables

2. Set Time Duration and Number of Steps
3. Click on FKin button
4. Click on Play button to see the animation
5. The end‐effector trace can be viewed

GRAPH PLOTS OF FKIN

Steps need to be followed to view the graph plots of a forward kinematics (animation) analysis.

1. Click on Graph tab

2. Click on + next to the link of which the plots are to be viewed
3. Click on box to plot graph of a particular node to see X, Y and Z plots
4. Click on + next to the joint of which the plots are to be viewed
5. Click on box to plot graph of a particular node to see joint value (joint angle for revolute joint and
joint offset for prismatic joints), joint velocity and joint acceleration
 Forward kinematics - 3 DOF – PRP Robot Arm

Model Joint offset Joint Angle Link Length Twist Angle Initial Value Final value
Variable 90 0.1 90 0.1 0.2
3 DOF – PRP 0.05 Variable 0.08 45 90 120
Variable 90 0.15 90 0.1 0.05

3 D Model :

Joint 2 Graph:
 Forward kinematics - 4 DOF – SCARA Robot Arm

Model Joint offset Joint Angle Link Length Twist Angle Initial Value Final value
0.1 Variable 0.1 0 0 100
4 DOF – 0.1 Variable 0.15 180 90 60
SCARA Variable 0 0.1 0 0.1 0.2
0 Variable 0.15 45 0 100

3 D Model :

Joint 1 Graph:

Joint 2 Graph:

Joint 4 Graph:
 Forward kinematics - 5 DOF – PPPRR Robot Arm

Model Joint offset Joint Angle Link Length Twist Angle Initial Value Final value
Variable 90 0 90 0.1 0.2
Variable 90 0 90 0.1 0.2
5 DOF –
Variable 180 0 90 0.1 0.2
PPPRR
0.1 Variable 0 90 0 90
0 Variable 0.1 ‐90 30 90

3 D Model :

Joint 4 Graph:

Joint 5 Graph:

Result : Thus the forward kinematics analysis has been performed for the given specification
Experiment No. 5 INVERSE KINEMATICS

Aim: To perform the inverse kinematics analysis for the given specification of robot arm.

Model Joint offset Link Length Twist Angle Joint Angle End Effector
0 0 90 Variable 0.2
3 DOF–RPR Variable 0 90 ‐180 0.15
0 0.02 0 Variable 150
3R 0 0.1 90 NA 0
Articulated 0.2 0.05 90 NA 0.2
0.1 0.1 90 NA ‐0.1

Model Transformation matrix End Effector

Position
0 1 0 ‐0.02
MTAB ‐ mini 1 0 0 ‐0.1
0 0 ‐1 0.13

Theory

Inverse Kinematics (IKin) consists of determination of the joint variables corresponding to a given
end‐ effector’s orientation and position. The solution to this problem is of fundamental importance in
order to transform the motion specifications assigned to the end‐effector in the operational space into
the corresponding joint space motions. There may be multiple or no results possible for a given end‐
effector position and orientation.

SOLUTIONS OF IKIN

The steps needed to view the solutions of its Inverse Kinematics

1. Click on IKin button. It shows a separate window

2. Select a Robot
3. Enter Input parameters
4. Click on IKin button
5. View the possible solutions
6. Click on Show button. It shows the selected solution in 3D Model window. To see this go back to
main window by minimizing IKin window
7. Select any of the obtained solution as initial and final solution
8. Click on OK. This step replaces the initial and final joint values in DH Parameter table (Main
window) by values selected in step 7
9. Click on FKin button to view animation i.e. how robot moves from one solution to another solution
selected in step 7
 Model Joint offset Link Length Twist Angle Joint Angle End Effector
0 0 90 Variable 0.2
3 DOF–RPR Variable 0 90 ‐180 0.15
0 0.02 0 Variable 150

Solution

Theta 1 Joint Offset Theta 3

Fkin For Solution

Model Transformation matrix End Effector

Position
0 1 0 ‐0.02
MTAB ‐ mini 1 0 0 ‐0.1
0 0 ‐1 0.13

Solution Theta1 Theta2 Theta3 Theta4 Theta5

Solution 1
Solution 2
FKin for solution 1 and 2

3 R Articulated

Model Joint offset Link Length Twist Angle End Effector

0 0.1 90 0
3R
0.2 0.05 90 0.2
Articulated
0.1 0.1 90 ‐0.1

Theta1 Theta2 Theta3

Solution 1 165.46 0 ‐176.32
Solution 2 137.50 38.67 ‐148.31
Solution 3 120.79 0 ‐77.41
Solution 4 ‐165.58 ‐112.54 ‐3.61

FKin for solution 1 and 4

Result: Thus the inverse kinematics analysis has been carried out for the given specification of robot arm.