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Roboanalyzer

The document contains C code that implements forward kinematics using Denavit-Hartenberg (DH) parameters. It defines functions to compute transformation matrices and perform matrix multiplication, ultimately calculating the end effector position of a robotic arm. The main function initializes DH parameters and prints the calculated position of the end effector in meters.

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rextrex744
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9 views2 pages

Roboanalyzer

The document contains C code that implements forward kinematics using Denavit-Hartenberg (DH) parameters. It defines functions to compute transformation matrices and perform matrix multiplication, ultimately calculating the end effector position of a robotic arm. The main function initializes DH parameters and prints the calculated position of the end effector in meters.

Uploaded by

rextrex744
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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#include <stdio.

h>
#include <math.h>

#define PI 3.141592653589793

void dh_transform(double a, double alpha, double d, double theta, double T[4][4]) {


// Compute individual transformation matrix using DH parameters.
alpha = alpha * PI / 180.0;
theta = theta * PI / 180.0;

T[0][0] = cos(theta); T[0][1] = -sin(theta) * cos(alpha); T[0][2] = sin(theta)


* sin(alpha); T[0][3] = a * cos(theta);
T[1][0] = sin(theta); T[1][1] = cos(theta) * cos(alpha); T[1][2] = -cos(theta)
* sin(alpha); T[1][3] = a * sin(theta);
T[2][0] = 0; T[2][1] = sin(alpha); T[2][2] = cos(alpha); T[2][3] = d;
T[3][0] = 0; T[3][1] = 0; T[3][2] = 0; T[3][3] = 1;
}

void matrix_multiply(double A[4][4], double B[4][4], double result[4][4]) {


double temp[4][4] = {0};
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
for (int k = 0; k < 4; k++) {
temp[i][j] += A[i][k] * B[k][j];
}
}
}
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
result[i][j] = temp[i][j];
}
}
}

void forward_kinematics(double dh_params[3][4], double end_effector_position[3]) {


double T_final[4][4] = { {1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}
};
double T[4][4];

for (int i = 0; i < 3; i++) {


dh_transform(dh_params[i][0], dh_params[i][1], dh_params[i][2],
dh_params[i][3], T);
matrix_multiply(T_final, T, T_final);
}

end_effector_position[0] = T_final[0][3];
end_effector_position[1] = T_final[1][3];
end_effector_position[2] = T_final[2][3];
}

int main() {
double dh_params[3][4] = {
{0.1, 90, 0.2, 90},
{0.08, 90, 0.05, 180},
{0.08, 90, 0.2, 90}
};

double end_effector_position[3];
forward_kinematics(dh_params, end_effector_position);
printf("End Effector Position (x, y, z) in meters:\n");
printf("%.2f %.2f %.2f\n", end_effector_position[0], end_effector_position[1],
end_effector_position[2]);

return 0;
}

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