Bahir Dar University

Bahir Dar Institute of Technology

Faculty of Electrical and computer Engineering

Power and Control Stream

Introduction to robotics and industrial automation laboratory report

Section A

Group Name ID

1. Assefa Mulatie ……………………………………………………….0500417

2. Andualem Molla……………………………………………………... 0500417
3. Amlaku Yalew………………………………………………………….0500334
4. Assmare Tesema……………………………………………………….0500419
5.Anteneh Mengistu ……………………………………………………....0500360
6.Andualem Deginet………………………………………………………0500345

Submitted to Mr. Haymanot.

Submission date 19/05/2009 E.C

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Objectives of the report
 To analyze the robot homogeneous matrix using the robotic tool boxes
 To analyze 3D characteristics of robot using RoboAnalyzer
Theory
Robotics Toolbox

The Robotics Toolbox is a software package that allows a MATLAB user to readily create and
manipulate datatypes fundamental to robotics such as homogeneous transformations, quaternions
and trajectories. Functions provided, for arbitrary serial-link manipulators, include forward and
inverse kinematics, Jacobians, and forward and inverse
dynamics. Robotics Toolbox provides many functions that are useful in robotics including such
things as kinematics, dynamics, and trajectory generation. The Toolbox is useful for simulation as
well as analyzing results from experiments with real robots. The Toolbox is based on a very general
method of representing the kinematics and dynamics of serial-link manipulators. These parameters
are encapsulated in Mat lab objects. Robot objects can be created by the user for any serial-link
manipulator and a number of examples are provided for well know robots such as the Puma 560
and the Stanford arm. The toolbox also provides functions for manipulating datatypes such as
vectors, homogeneous transformations and unit-quaternions which are necessary to represent 3-
dimensional position and orientation.

RoboAnalyzer

RoboAnalyzer, a 3D model based software, can be used to teach robotics subjects to undergraduate
and postgraduate courses in engineering colleges. It can be used to learn DH parameters,
kinematics and dynamics of serial robots and allows 3D animation and graph plots as output.

Features of Roboanalyzer

RoboAnalyzer can be used to perform kinematic and dynamic analyses of serial chain
robots/manipulators.
The following are the main features of RoboAnalyzer:
 Parameter Visualization
 Forward Kinematics

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  Inverse Kinematics
 Inverse Dynamics
 Forward Dynamics
 Motion Planning

Overview of User Interface

RoboAnalyzer’s easy to use Graphical User Interface (GUI) consists of the following
 robot Selection and DH Parameters section
 Visualize DH section
 3D Model Browser
 3D Model View
 Graph Plot Tree View
 Graph Plot Window
 Inverse Kinematics Window

3D Model View Options

RoboAnalyzer lets the user to zoom, rotate and pan the 3D model to have better visualization.
These can be used as explained
 Zoom: Place the mouse cursor anywhere on 3D Model View and use the mouse‐wheel to
zoom in and zoom out. It can also be done by clicking on Zoom In and Zoom Out buttons.
 Rotate: Press the right mouse button and drag the mouse cursor anywhere on the 3D
Model View to rotate the model in the browser form.
 Pan: Press the left mouse button and drag the mouse cursor anywhere on the 3D Model
View to pan/translate the model in the browser form.
 standard Views: Select any standard view from the dropdown and the model view
updates.

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Material Required
 MATLAB Software with rvc tool
 RoboAnalyzer Software
 Robotics tool box

Procedure
 First write MATLAB code
 Second Simulate/run the code

Data Analysis and Discussion

1. Sample Rotation and translation of homogeneous matrix
Example 1
theta=90;
Tr=[1 0 0 0;0 1 0 0;0 0 1 0;0 0 0 1];
T1=transl(0.5,0.6,9)*Tr
T2=troty(pi/2)*Tr
T3=T1*T2
tranimate(T3)
tranimate(T1)
tranimate(T2)

Result

T1 =
1.0000 0 0 0.5000
0 1.0000 0 0.6000
0 0 1.0000 9.0000
0 0 0 1.0000
T2 =
0.0000 0 1.0000 0
0 1.0000 0 0
-1.0000 0 0.0000 0

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 0 0 0 1.0000
T3 =
0.0000 0 1.0000 0.5000
0 1.0000 0 0.6000
-1.0000 0 0.0000 9.0000
0 0 0 1.0000

Result graph becomes:

Example 2
a=[1 0 0 0;0 1 0 0;0 0 1 0;0 0 0 1]
t1=transl(5,6,9)*a
t2=trotx(pi/2)*a
t1*t2
a=
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
t1 =

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 1 0 0 5
0 1 0 6
0 0 1 9
0 0 0 1
t2 =
1.0000 0 0 0
0 0.0000 -1.0000 0
0 1.0000 0.0000 0
0 0 0 1.0000
ans =t1*t2
1.0000 0 0 5.0000
0 0.0000 -1.0000 6.0000
0 1.0000 0.0000 9.0000
0 0 0 1.0000
a=[1 0 0 0;0 1 0 0;0 0 1 0;0 0 0 1]
t1=transl(5,6,9)*a
t2=trotx(pi/2)*a
t1*t2

result graph becomes:

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2.1. Sample example of Forward kinematics of planar robot

Example 3
L(1)=Link([0 0 1 0])
L(2)=Link([0 0 1 0])
L(3)=Link([0 0 1 0])
robot=SerialLink(L)
robot.name='planner'
robot.plot([0 pi/2 pi/2])
robot.fkine([0 pi/2 pi/2])
L=
theta=q1, d= 0, a= 1, alpha= 0, offset= 0 (R,stdDH)
theta=q2, d= 0, a= 1, alpha= 0, offset= 0 (R,stdDH)
theta=q3, d= 0, a= 1, alpha= 0, offset= 0 (R,stdDH)
L=
theta=q1, d= 0, a= 1, alpha= 0, offset= 0 (R,stdDH)
theta=q2, d= 0, a= 1, alpha= 0, offset= 0 (R,stdDH)
theta=q3, d= 0, a= 1, alpha= 0, offset= 0 (R,stdDH)
L=
theta=q1, d= 0, a= 1, alpha= 0, offset= 0 (R,stdDH)
theta=q2, d= 0, a= 1, alpha= 0, offset= 0 (R,stdDH)
theta=q3, d= 0, a= 1, alpha= 0, offset= 0 (R,stdDH)
robot =
noname (3 axis, RRR, stdDH, fastRNE)
+---+-----------+-----------+-----------+-----------+-----------+
|j| theta | d| a| alpha | offset |
+---+-----------+-----------+-----------+-----------+-----------+
| 1| q1| 0| 1| 0| 0|
| 2| q2| 0| 1| 0| 0|
| 3| q3| 0| 1| 0| 0|
+---+-----------+-----------+-----------+-----------+-----------
grav = 0 base = 1 0 0 0 tool = 1 0 0 0

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 0 0 1 0 0 0 1 0 0
9.81 0 0 1 0 0 0 1 0
0 0 0 1 0 0 0 1
robot =
planner (3 axis, RRR, stdDH, fastRNE)
+---+-----------+-----------+-----------+-----------+-----------+
|j| theta | d| a| alpha | offset |
+---+-----------+-----------+-----------+-----------+-----------+
| 1| q1| 0| 1| 0| 0|
| 2| q2| 0| 1| 0| 0|
| 3| q3| 0| 1| 0| 0|
+---+-----------+-----------+-----------+-----------+-----------+
grav = 0 base = 1 0 0 0 tool = 1 0 0 0
0 0 1 0 0 0 1 0 0
9.81 0 0 1 0 0 0 1 0
0 0 0 1 0 0 0 1
ans =
-1.0000 -0.0000 0 0
0.0000 -1.0000 0 1.0000
0 0 1.0000 0
0 0 0 1.0000

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The result robot figure becomes:

2.2. Forward kinematics of spherical robot example

Example 4
L(1)=Link([0 0 1 0])
L(2)=Link([0 0 1 0])
L(3)=Link([0 0 1 0])
robot=SerialLink(L)
robot.name='spherical'
robot.plot([0 0 0])
robot.fkine([0 pi/2 pi/2])
L=
theta=q1, d= 0, a= 1, alpha= 0, offset= 0 (R,stdDH)
theta=q2, d= 0, a= 1, alpha= 0, offset= 0 (R,stdDH)
theta=q3, d= 0, a= 1, alpha= 0, offset= 0 (R,stdDH)
L=
theta=q1, d= 0, a= 1, alpha= 0, offset= 0 (R,stdDH)

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theta=q2, d= 0, a= 1, alpha= 0, offset= 0 (R,stdDH)
theta=q3, d= 0, a= 1, alpha= 0, offset= 0 (R,stdDH)
L=
theta=q1, d= 0, a= 1, alpha= 0, offset= 0 (R,stdDH)
theta=q2, d= 0, a= 1, alpha= 0, offset= 0 (R,stdDH)
theta=q3, d= 0, a= 1, alpha= 0, offset= 0 (R,stdDH)
robot =
noname (3 axis, RRR, stdDH, fastRNE)
+---+-----------+-----------+-----------+-----------+-----------+
|j| theta | d| a| alpha | offset |
+---+-----------+-----------+-----------+-----------+-----------+
| 1| q1| 0| 1| 0| 0|
| 2| q2| 0| 1| 0| 0|
| 3| q3| 0| 1| 0| 0|
+---+-----------+-----------+-----------+-----------+-----------+
grav = 0 base = 1 0 0 0 tool = 1 0 0 0
0 0 1 0 0 0 1 0 0
9.81 0 0 1 0 0 0 1 0
0 0 0 1 0 0 0 1
robot =
spherical (3 axis, RRR, stdDH, fastRNE)
+---+-----------+-----------+-----------+-----------+-----------+
|j| theta | d| a| alpha | offset |
+---+-----------+-----------+-----------+-----------+-----------+
| 1| q1| 0| 1| 0| 0|
| 2| q2| 0| 1| 0| 0|
| 3| q3| 0| 1| 0| 0|
+---+-----------+-----------+-----------+-----------+-----------+
grav = 0 base = 1 0 0 0 tool = 1 0 0 0
0 0 1 0 0 0 1 0 0
9.81 0 0 1 0 0 0 1 0

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 0 0 0 1 0 0 0 1
ans =
-1.0000 -0.0000 0 0
0.0000 -1.0000 0 1.0000
0 0 1.0000 0
0 0 0 1.0000
The result robot figure becomes:

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Conclusion
From this lab, we conclude that Rotation and translation characteristics of the robot homogeneous
matrix can computed using robotics tool box in MATLAB. We also analyze 3D characteristics of
robot using RoboAnalyzer and can be used to perform kinematic and dynamic analyses of serial
chain robots/manipulators.

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