LAB 1 LAB 2 LAB 3 LAB 4

LAB 5 LAB 6 LAB 7 LAB 8

 Robotics
Lab 1 : Introduction to Robotics
Eng. Najm Addin Al-Shuaibi
Objectives
• Robot Definition.
• Degree of Freedom. (DOF).
• Types of Robots.
• Types of Joints.
Definition of a Robot
• reprogrammable,
multifunctional manipulator
designed to move material,
parts, tools, or specialized
devices through variable
programmed motions for the
performance of a variety of
tasks.
Definition of a Workspace

• A robot's workspace is the

specific physical area or volume
within which it can perform
tasks or manipulate objects.
Definition of a Workspace

• Reachable.
• Reach the point by at least one
orientation.
• Dextrous.
Joints and Links
Joints and Links
Degree of Freedom (DOF)

• Degree of freedom in robotics

refers to the number of
independent ways a robot can
move or change its configuration.
Degree of Freedom (DOF)

6 DOF
Degree of Freedom (DOF)

• Degree of freedom in robotics

refers to the number of
independent ways a robot can
move or change its configuration.
Singularity

• Is a configuration in which the

robot end effector becomes
blocked in certain directions.

• Also defined as a particular point

in a robot workspace that causes
the robot to lose one or more
degrees of freedom
Types of Robots

1. Cartesian Robot
(PPP or 3P)
Three linear motion in X , Y and Z
Types of Robots

2. Cylindrical Robot
(RPP or R2P)
Types of Robots

3. Spherical Robot
(2RP)
Types of Robots

4. Articulated Robot
(3R)
Types of Robots

5. SCARA Robot
(3RP)
Homework 1

Download robotics MATLAB

toolbox and install it in your
laptop.

Robotics MATLAB
TOOLBOX
Know every function inside
the RVC tools library
Term Assignments

• Attendance – 10%
• HomeWorks. – 40%
• Final Term Project – 50%
Final Term Project – Due Week 8

• ABB robot Studio.

1. Introduction to Robotics Studio (program Interface).
2. Welding RoboticStudio.
3. CNC Robot.
4. 3D Printing Robot.
5. Pick and Place Robot in Robotic Studio.
6. Painting robot in Robotic Studio.
Final Term Project – Due Week 8
• Each group should be at least 3 and maximum 6
students.
• Each group should deliver the following.
• A presentation how the group made the project.
• A demo of the final project.
• A documentation of how the project was done (pptx or docx).
• Upload the files to the following telegram bot.
 Robotics
Lab 2 : Positions, orientations, and frames.
Eng. Najm Addin Al-Shuaibi
Objectives
• What is a frame.
• Translation matrix.
• 2D Rotation.
• Rot-Z
• Transformation matrix.
Frame
• Frames in a robot define a
coordinate system that the
robot uses to know where it
is and where to go. A frame
consists of six main
components: an X, Y, & Z
axis and a rotation about
each of these axes.
Point in 2D-Space

3 A

5
P 5
P

1 A 3 X

3x1 Point Movement

Translation Matrix
Y

• that represents a movement

Y
or shift in position, typically
used to describe the
displacement of objects or
points in 3D space. 5
B X

A 3 X

Frame Movement
Translation Matrix
Y

P
B
A 5
B X

A 3 X

Frame Movement
Translation Matrix -2D Space
Y

Y
1 0 3
0 1 5
5
0 0 1 B X

3x3 A 3 X

Frame Movement
Translation in a 3D Transformation
Matrix Y

1 0 0 3
0 1 0 5 5
B X
0 0 1 0
0 0 0 1 A 3 X

4x4 Frame Movement

Rotation Matrix

Rotation x Rotation y Rotation z

MATLAB – rvctools
MATLAB – translation

>> transl2(3, 5) ans =

1 0 4
0 1 5
0 0 1
>> trplot2(transl2(4,
5));
MATLAB – rotation 2D
 Rotation matrix representing a rotation of theta in radians:

>> rot2(pi/2)
ans =
0.0000 -1.0000
1.0000 0.0000
 Homogeneous transformation (3 ×3) representing a rotation of
theta in radians:
>> trot2(pi/2)
ans =
0.0000 -1.0000 0
1.0000 0.0000 0
0 0 1.0000
 MATLAB – transformation 2D
 We create a homogeneous transformation using the function se2:
which represents a translation of (1, 2) and a rotation of 30°:
>> T1=se2(2,3,60*pi/180)
T1 =
0.5000 -0.8660 2.0000
0.8660 0.5000 3.0000
0 0 1.0000

 We can plot this, relative to the world coordinate frame, by

>> axis([0 5 0 5])

>> trplot2(T1, 'frame', '1', 'color', 'b')
 MATLAB – transformation 2D
 We create a homogeneous transformation using the function se2:
which represents a translation of (2, 3) and a rotation of 60°:
>> T1=se2(2,3,60*pi/180)
T1 =
0.5000 -0.8660 2.0000
0.8660 0.5000 3.0000
0 0 1.0000

 We can plot this, relative to the world coordinate frame, by

>> axis([0 5 0 5])

>> trplot2(T1, 'frame', '1', 'color', 'b')
 MATLAB – transformation 2D -
Example
 Create the four homogeneous transformation with dimension as shown.
- Frame 1: Translation of (1,2) and rotation by 30.
- Frame 2: (see the Figure)
- Frame 3: is Frame1 * Frame2
- Frame 4: is Frame2 * Frame1
- point: (see the Figure).
 Create the point as a homogeneous form.
 Determine the coordinate of the point
with respect to frame {3}.

 Determine the coordinate of the point

with respect to frame {4}.
MATLAB – transformation 2D -
Example
 MATLAB – transformation 2D -
Example
 Create the four homogeneous transformation with dimension as shown.
- Frame 1: Translation of (1,2) and rotation by 30. >> T1 = se2(1, 2, 30*pi/180);
- Frame 2: (see the Figure) >> T2 = se2(2, 1, 0);
- Frame 3: is T1*T2 >> T3 = T1*T2;
- Frame 4: is T2*T1 >> T4 = T2*T1;
>> P = [3 ; 2 ;1];
- point: (see the Figure).
 Create the point as a homogeneous form. >> P3=inv(T3)*P
>> P4=inv(T4)*P
 Determine the coordinate of the point P3 = >>P4=h2e( P4 )
with respect to frame {3}. -0.2679
-2.0000
1.0000

 Determine the coordinate of the point P4 =

with respect to frame {4}. -0.5000

-0.8660
1.0000
MATLAB – transformation 2D -
exercise
Create a frame with the following properties
1-rotation of -60 degrees.
2-translation of (2,1).
3-translation of (-1,2) along the generated
axis.
4-rotation of 45.
MATLAB – transformation 2D -
exercise
Create a frame with the following properties
1-rotation of -60 degrees.
2-translation of (2,1).
3-translation of (-1,2) along the generated
axis.
4-rotation of 45.
 Robotics
Lab 3 : Fixed and Euler Orientation
Eng. Najm Addin Al-Shuaibi
Objectives
• What is Fixed Orientation.
• What is Euler Orientation.
• Intro to 3D space.
Previously Used Functions
• Transl2(x,y) : move the frame in x, y direction.
• Trot2, rotz(theta): rotate the frame around z axis.
• Se2(x,y,theta): combines both translation and rotation in one function
also called transformation.

• Trplot2(frame): plot the frame in 2d plane.

• Plot_point(point): plot the point in 2d plane.
MATLAB – transformation 2D -
Solution
Create a frame with the following properties
1-rotation of -60 degrees.
2-translation of (2,1).
3-translation of (-1,2)
4-rotation of 45.
Example -1

 Find:
1-rotation of 180 degrees.
2-translation of (0,1).
3-translation of (-1,-1) along the
generated axis.
4-rotation of -30 along the
generated axis.
Example -1

 Find:
1-rotation of 180 degrees.
2-translation of (0,1).
3-translation of (-1,-1) along the
generated axis.
4-rotation of -30 along the
generated axis.
Example -3
Example -3
Moving to 3D
• Se3(frame2D) : convert any 3x3 to 4x4 matrix
Moving to 3D
• Se3(frame2D) : convert any 3x3 to 4x4 matrix

1. Transl (x,y,z) : move the frame in x, y,z directions.

2. trotz(theta): rotate the frame around z axis. (4x4) Matrix
3. troty(theta): rotate the frame around z axis. (4x4) Matrix
4. trotx(theta): rotate the frame around z axis. (4x4) Matrix
5. Trplot(frame): plot the frame in 2d plane.
6. Plot_point(point): plot the point in 2d plane.
Rotated Frames Methods
3D Rotation
3D Rotation
3D Rotation – Assignment – Find
Orientation
3D Rotation – Assignment – Find
Orientation
3D Rotation – Assignment – Find
Orientation
3D Rotation – Assignment – Find
Orientation
 Robotics
Lab 4 : Positions, orientations, and frames. In 3D world
Eng. Najm Addin Al-Shuaibi
Objectives
• Representation of Combined Transformations.
• Transformations Relative to the Current (Moving) Frame.
• Mixed Transformations Relative to Rotating and Reference Frames.
Representation of Combined
Transformations.
Representation of Combined
Transformations.
Representation of Combined
Transformations.
Representation of Combined
Transformations.
Representation of Combined
Transformations.
Transformations Relative to the Current (Moving)
Frame.
Mixed Transformations Relative to Rotating and Reference
Frames.
 Robotics
Lab 5 : Inverse Matrix and Forward Kinematics
Eng. Najm Addin Al-Shuaibi
Objectives
• How to Find the inverse of a matrix in matlab.
• Define the movements of a robot.
• What are links?
• What is Forward Kinematics?
• What is a DH-Table
Inverse Matrix
Inverse Matrix
Inverse Matrix
Inverse Matrix
Joints and Links
Difference between joint & link

6 DOF
Forward Kinematics
• Forward kinematics refers to process of obtaining position and
velocity of end effector, given the known joint angles and angular
velocities.
Forward Kinematics
• Forward kinematics refers to process of obtaining position and
velocity of end effector, given the known joint angles and angular
velocities.
Robotics
Lab 6 : DH- Table
Objectives
• What is a DH-table
• What are the parameters of a DH-table.
• How to form a robot with DH-table
What is a DH-table
• Denavit–Hartenberg (DH) parameters are a convention used by
robotics experts to mathematically describe the size and range of a
robot’s bones.
DH-Table parameters
DH-Table parameters
Example 1
Example 1
Example 1
Example 1
Example 2: define in MATLAB
Example 2: define in MATLAB
Example 2: define in MATLAB
Example 2: define in MATLAB
Robotics
Lab 7 : Inverse Kinematics
Inverse Kinematics
• Given the desired position and orientation of the tool relative to the
station, how do we compute the set of joint angles which will achieve
this desired result.
Inverse Kinematics -MATLAB
• We will split all proposed manipulator solution strategies into two
broad classes:
• Closed-form solution.
• Numerical solutions.
Inverse Kinematics - Closed-form
solution
• Each joint angle is calculated from the pose of the end-effector based
on a mathematical formula.
• Analytical Inverse Kinematics is mainly used for robots with low
degrees of freedom (DOF).
Inverse Kinematics -Solvability
• The problem of solving the inverse kinematic of a manipulator is a
nonlinear one.
• As with any nonlinear set of equations, we must concern ourselves
with:
• -The existence of solutions.
• -Multiple solutions.
• -The method of solution.
Inverse Kinematics -The Existence of
Solutions
• For a solution to exist, the specified goal point must lie within the
workspace.
• Types of workspace:
• Dexterous workspace: We can reach the goal point with a lot of paths.
• Reachable workspace: We can reach the goal point with one path only.
• Workspace at Joint limits.
Inverse Kinematics -Example
• Example: Find the specification of
the robot in the figure. Assume
L1 = 20, L2 = 15
Inverse Kinematics - MATLAB
Inverse Kinematics - MATLAB
Inverse Kinematics -Multiple
Solutions
• The fact that a manipulator has multiple solutions can cause
problems, because the system has to be able to choose one.
• A very reasonable choice would be the closest solution.
• In the case of the obstacle existence in the workspace, configuration avoiding
obstacle will be chosen.
Trajectory