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Roboticassignment 2018432

Robotics assignment

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engineershakir18
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11 views11 pages

Roboticassignment 2018432

Robotics assignment

Uploaded by

engineershakir18
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Robotics Assignment

Name Shakirullah
Reg no 2018432
Analytical Solution:
Matlab Code:
clc;clear;
format short
M1=.05;M2=.05;
L1=.5;L2=.5;
Izz1 = 1.04*10^-5;
Izz2=Izz1;

q1o=0;q2o=0;
q=q1o;d=0;a=0;alpha=0; %for i=1;
T01=[cos(q) -sin(q) 0 a;sin(q)*cos(alpha) cos(q)*cos(alpha) -sin(alpha) -
sin(alpha)*d;sin(q)*sin(alpha) cos(q)*sin(alpha) cos(alpha) cos(alpha)*d;0 0 0
1];
q=q2o;d=0;a=L1;alpha=0; %fori=2;
T12=[cos(q) -sin(q) 0 a;sin(q)*cos(alpha) cos(q)*cos(alpha) -sin(alpha) -
sin(alpha)*d;sin(q)*sin(alpha) cos(q)*sin(alpha) cos(alpha) cos(alpha)*d;0 0 0
1];
q=0;d=0;a=L2;alpha=0; % for i=3;
T23=[cos(q) -sin(q) 0 a;sin(q)*cos(alpha) cos(q)*cos(alpha) -sin(alpha) -
sin(alpha)*d;sin(q)*sin(alpha) cos(q)*sin(alpha) cos(alpha) cos(alpha)*d;0 0 0
1];
T02=T01*T12;
T03=T01*T12*T23;

axis([-2 3 -2 3]);

Ax1 = [T01(1,4),T02(1,4)];
Ay1 = [T01(2,4),T02(2,4)];
Ax2 = [T02(1,4),T03(1,4)];
Ay2 = [T02(2,4),T03(2,4)];
Ax3 = [-.1,.1];
Ay3= [0,0];

p1 = line(Ax1,Ay1,'LineWidth',[3],'Color','k');
p2 = line(Ax2,Ay2,'LineWidth',[3],'Color','M');
p3 = line(Ax3,Ay3,'LineWidth',[9],'Color','R');
drawnow

% pause()
n=1;
g=9.80;
for t=0:.01:1
q1=pi/6*t+pi/4*t^2;
q2=pi/4*t+pi/6*t^2;
dq1=pi/4+2*pi/4*t;
ddq1=2*pi/4;
dq2=pi/6+2*pi/6*t;
ddq2=2*pi/6;
q=q1;d=0;a=0;alpha=0; %for i=1;
T01=[cos(q) -sin(q) 0 a;sin(q)*cos(alpha) cos(q)*cos(alpha) -sin(alpha) -
sin(alpha)*d;sin(q)*sin(alpha) cos(q)*sin(alpha) cos(alpha) cos(alpha)*d;0 0 0
1];
q=q2;d=0;a=L1;alpha=0; %fori=2;
T12=[cos(q) -sin(q) 0 a;sin(q)*cos(alpha) cos(q)*cos(alpha) -sin(alpha) -
sin(alpha)*d;sin(q)*sin(alpha) cos(q)*sin(alpha) cos(alpha) cos(alpha)*d;0 0 0
1];
q=0;d=0;a=L2;alpha=0; % for i=3;
T23=[cos(q) -sin(q) 0 a;sin(q)*cos(alpha) cos(q)*cos(alpha) -sin(alpha) -
sin(alpha)*d;sin(q)*sin(alpha) cos(q)*sin(alpha) cos(alpha) cos(alpha)*d;0 0 0
1];
T02=T01*T12;
T03=T01*T12*T23;
Ax1 = [T01(1,4),T02(1,4)];
Ay1 = [T01(2,4),T02(2,4)];
Ax2 = [T02(1,4),T03(1,4)];
Ay2 = [T02(2,4),T03(2,4)];
Ax3 = [-.1,.1];
Ay3= [0,0];

set(p1,'X', Ax1, 'Y',Ay1)


set(p2,'X', Ax2, 'Y',Ay2)
set(p3,'X', Ax3, 'Y',Ay3)

% M=[L2^2*M2+2*L1*L2*M2*cos(q2)+L1^2*(M1+M2)
L2^2*M2+L1*L2*M2*cos(q2);L2^2*M2+L1*L2*M2*cos(q2) L2^2*M2];
M=[M1/4*L1^2+2*Izz1+M2*L1^2+M2/4*L2^2+M2*L1*L2*cos(q2)+2*Izz2
M2/4*L2^2+M2/2*L1*L2*cos(q2)+2*Izz2;...
M2/4*L2^2+M2/2*L1*L2*cos(q2)+2*Izz2 M2/4*L2^2+2*Izz2];
% V=[-M2*L1*L2*sin(q2)*dq2^2-2*M2*L1*L2*sin(q2)*dq1*dq2;M2*L1*L2*sin(q2)*dq1^2];
V=[-M2*L1*L2*sin(q2)*dq1*dq2-M2/2*L1*L2*sin(q2)*dq2^2;-M2/2*L1*L2*sin(q2)*dq1^2];
% G=[M2*L2*g*cos(q1+q2)+(M1+M2)*L1*g*cos(q1);M2*L2*g*cos(q1+q2)];
G=[M2/2*L2*g*cos(q1+q2)+(M1/2+M2)*L1*g*cos(q1);M2/2*L2*g*cos(q1+q2)];
T=M*[ddq1;ddq2]+V+G;

A1(n,1)=t;%Time of traj.
A2(n,1)=T(1,1);%T at joint 1
A3(n,1)=T(2,1); %T at joint 2
drawnow
pause(.03)
n=n+1;
end
hold on
figure
plot(A1(:,1),A2(:,1),'r'); grid on;
xlabel('Time(s)');
ylabel('Torque(N.m)');
title("Torque vs Time for joint 1 and 2");
hold on
plot(A1(:,1),A3(:,1),'k')

legend('Joint 1','Joint 2')


Robot X and Y position.

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