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Tutorial 5-8

The document contains an agenda for a tutorial on mechanisms and robotics. The topics include forward kinematics for 2D and 5D manipulators, workspace analysis for planar and articulated manipulators, and inverse kinematics of the PUMA 560 robot. MATLAB code is provided as part of solving some of the example problems.

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Adil Rasheed
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43 views26 pages

Tutorial 5-8

The document contains an agenda for a tutorial on mechanisms and robotics. The topics include forward kinematics for 2D and 5D manipulators, workspace analysis for planar and articulated manipulators, and inverse kinematics of the PUMA 560 robot. MATLAB code is provided as part of solving some of the example problems.

Uploaded by

Adil Rasheed
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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BITS Pilani

Pilani | Dubai | Goa | Hyderabad

Mechanisms and Robotics Tutorial (4- 8)


Ag e n da

1. Forward kinematic-1: 2 DOF Planar manipulator

2. Forward kinematic-2: 5 DOF Industrial manipulator

3. Workspace – 1: Planar manipulator

4. Workspace – 2: Articulated manipulator

5. Inverse Kinematics of PUMA 560 Robot


BITS Pilani
Pilani | Dubai | Goa | Hyderabad

Forward kinematic-1: 2 DOF Planar


manipulator
P r ob l e m N o . 4

Obtain the position and orientation of the tool point P with respect to the base
for the 2 DOF, RP planar manipulator shown in figure. Consider joint angle 120
degrees and link length 200 mm.
S o l ut i on

Stage 1: Frame Assignment Stage 2: DH parameters

n-DOF = n+1 frames Link: [X]


Length (a) = Xi and Zi-1
nth frame = n-1th frame and X0 direction = X1 direction Twist (α) = Zi and Zi-1 ACW (+)
Z frame assignment w.r.t. direction of link movement
Joint: [Z]
X frame assignment Perpendicular to Zi and Zi-1 Distance (d) = Xi and Zi-1
Angle (θ) = Xi and Xi-1 CW (+)
Link d a
1 1 0 0 90
{0} {1} {2} 2 0 d2 0 0
S o l ut i on

 T = TZ () TZ () TX(a) TX ()

T=

T=
S o l ut i on (C o n td . ,)

 T1 = ; T2 =  T =

T = T1 * T 2 =

Lets go to the
MATLAB
S o l ut i on (C o n td . ,)

RVC Toolbox Code:

clc
clear all
close all
l(1)=Link([0,0,0,pi/2,0])
l(2)=Link([0,0,0,0,1])
R=SerialLink(l)
R.fkine([(2*pi)/3 200])
R.plot([(2*pi)/3 200],'workspace',[-250 250 -250 250 -250 250],'reach',300);
BITS Pilani
Pilani | Dubai | Goa | Hyderabad

Forward kinematic-2: 5 DOF


Industrial manipulator
P r ob l e m N o . 5
All the five axes of the manipulator are revolute as shown in figure. Find the
position and orientation of the end effector if the joint variable vector is
q = [π/4 -3π/4 π/2 π/4 π] T and the link parameters are L1 = 50, L2=L3= 140
and L5 = 20.
S o l ut i on
Stage 1: Frame Assignment Stage 2: DH parameters
n-DOF = n+1 frames Link: [X]
Length (a) = Xi and Zi-1
nth frame = n-1th frame and X0 direction = X1 direction
Twist (α) = Zi and Zi-1 ACW (+)
Z frame assignment w.r.t. direction of link movement
X frame assignment Perpendicular to Zi and Zi-1 Joint: [Z]
Distance (d) = Xi and Zi-1
Angle (θ) = Xi and Xi-1 CW (+)
L d a
{4} {5} 1 1 50 0 -90
{1}
2 2 0 140 0

{2} {3} 3 3 0 140 0


4 4 -90 0 0 -90
{0}
5 5 20 0 0
S o l ut i on (C o n td . ,)

• 1  =
T T4 =
T2 = T5 =
T3 = T=
T=T1*T2*T3*T4*T5

Lets go to the
MATLAB
S o l ut i on (C o n td . ,)

RVC Toolbox Code:


clc
clear all
l(1)=Link([0,50,0,-pi/2,0])
l(2)=Link([0,0,140,0,0])
l(3)=Link([0,0,140,0,0])
l(4)=Link([0,0,0,-pi/2,0])
l(5)=Link([0,20,0,0,0])
R=SerialLink(l)
R.fkine([pi/4,(-3*pi)/4,pi/2,-pi/4,pi])
R.plot([pi/4,(-3*pi)/4,pi/2,-pi/4,pi])
BITS Pilani
Pilani | Dubai | Goa | Hyderabad

Workspace – 1: Planar manipulator


P r ob l e m N o . 6

Develop workspace points in MATLAB for planar manipulator whose joint angle
is π and link length is 20 mm.

S o lu t io n

 T =

Lets go to the
MATLAB
S o l ut i on (C o n td . ,)

MATLAB Code:
clc
clear all
close all
t1 = linspace(0,pi,11)
d2= linspace(0,20,11)
for i=1:11
for j=1:11
C1=cos(t1(i));
S1=sin(t1(i));
S o l ut i on (C o n td . ,)

dx=d2(j)*S1;
dy=-d2(j)*C1;
plot(dx,dy,'xk')
hold on
pause(.1)
axis tight
end
end
BITS Pilani
Pilani | Dubai | Goa | Hyderabad

Workspace – 2: Articulated
manipulator
P r ob l e m N o . 7

Develop workspace points in MATLAB for articulated manipulator whose joint


angles are π, π/2 and π/2, link lengths L2=L3=30 mm.
S o l ut i on

Stage 1: Frame Assignment Stage 2: DH parameters


Link: [X]
n-DOF = n+1 frames
Length (a) = Xi and Zi-1
nth frame = n-1th frame and X0 direction = X1 direction Twist (α) = Zi and Zi-1 ACW (+)
Z frame assignment w.r.t. direction of link movement
Joint: [Z]
X frame assignment Perpendicular to Zi and Zi-1 Distance (d) = Xi and Zi-1
Angle (θ) = Xi and Xi-1 CW (+)

Link d a
1 1 0 0 90
2 2 0 L2 0
3 3 0 L3 0
S o l ut i on (C o n td . ,)

•T1  =
T2 = T=
T3 =

Lets go to the
MATLAB
S o l ut i on (C o n td . ,)
MATLAB Code:
clc
L3=30;
L2=30;
t1 = linspace(0,pi,15);
t2 = linspace(0,pi/2,15);
t3 = linspace(0,pi/2,15);
for i=1:15
for j=1:15
C23=cos(t2(i)+t3(j));
C1=cos(t1(i));
C2=cos(t2(i));
S o l ut i on (C o n td . ,)

S23=sin(t2(i)+t3(j));
S1=sin(t1(i));
S2=sin(t2(i));
dx=C1*(L3*C23+L2*C2);
dy=S1*(L3*C23+L2*C2);
dz=L3*S23+L2*S2;
plot3(dx,dy,dz,'mx')
hold on
pause(.1)
end
end
P r ob l e m N o . 8

Determine joint angles of PUMA 560 robot for end effector position [0.2 0.5 0]
and RPY= [0 180 0]. [Use robotics tool box].

Lets go to the
MATLAB
S o l ut i on

RVC Toolbox Code:


• mdl_puma560
• p560.plot(qz)
• T=transl(0.2,0.5,0)*rpy2tr(0,pi,0)
• hold on
• trplot(T)
• q=p560.ikine6s(T)
• tg=jtraj(qz,q,50);
• p560.plot(tg)
THANK YOU

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