MT-624L Robotics Lab Air University, Islamabad

LAB REPORT

MT-642L ROBOTOCS LAB

Name Saad Zaigham

Roll No. 201156

Class BEMTS VI B

Semester VI

Course Robotics Lab

Date 14th April 2023

Submitted to Eng. Iraj Kinaat

Department of Mechatronics and Biomedical Engineering

Air University Islamabad

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MT-624L Robotics Lab Air University, Islamabad

Table of Contents

Objectives ................................................................................................................................................. 3
Lab Activity ............................................................................................................................................... 3
Activity 1 ............................................................................................................................................... 3

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MT-624L Robotics Lab Air University, Islamabad

Lab # 06
Given a set of joint angles determine the position and orientation of
the given manipulators using Forward Kinematics and verify it
using Peter Corke Robotics Toolbox.
Objectives
• Practice the use of toolbox in various configurations
• Verification of analytical solutions using simulations
Lab Activity
To solve the kinematics problem, we have to assign frame to each link by starting from base
frame to end-effector frame. The frame assignment is shown below. Then, we define the DH
parameters obtained as mentioned below.

The parameters use din DH table are given as follows.

Activity 1

Figure 1

DH TABLE:
LINK Ai Alpha (i) Di Theeta(i)
1 15 0 40 π/2
2 20 π 0 0
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MT-624L Robotics Lab Air University, Islamabad

3 0 0 30 0
4 0 0 20 0
CODE:
clc clear all length = [15 20 0 0]; twist = [0 pi 0 0]; distance = [40 0 30 20]; angle = [pi/2 0 0 0];

c_angle = [cos(angle(1)) cos(angle(2)) cos(angle(3)) cos(angle(4)) ]; s_angle = [sin(angle(1))

sin(angle(2)) sin(angle(3)) sin(angle(4)) ]; c_twist = [cos(twist(1)) cos(twist(2)) cos(twist(3))
cos(twist(4)) ]; s_twist = [sin(twist(1)) sin(twist(2)) sin(twist(3)) sin(twist(4)) ];

T1 = [c_angle(1) -s_angle(1)*c_twist(1) s_angle(1)*s_twist(1)

1.2*c_angle(1); s_angle(1) c_angle(1) -c_angle(1)*s_twist(1) 1.2*s_angle(1);

0 s_twist(1) c_twist(1) distance(1);

0 0 0 1];

T2 = [c_angle(2) -s_angle(2)*c_twist(2) s_angle(2)*s_twist(2)

22*c_angle(2);

s_angle(2) c_angle(2) -c_angle(2)*s_twist(2) 22*s_angle(2);0

s_twist(2) c_twist(2) distance(2);

0 0 0 1];

T3 = [c_angle(3) -s_angle(3)*c_twist(3) s_angle(3)*s_twist(3)

22*c_angle(3);

s_angle(3) c_angle(3) -c_angle(3)*s_twist(3) 22*s_angle(3);0

s_twist(3) c_twist(3) distance(3);

0 0 0 1];

T4 = [c_angle(4) -s_angle(4)*c_twist(4) s_angle(4)*s_twist(4) 0*c_angle(4); s_angle(4) c_angle(4) -

c_angle(4)*s_twist(4) 0*s_angle(4);

0 s_twist(4) c_twist(4) distance(4);

0 0 0 1];

T = T1*T2*T3*T4;

L(1) = Link([angle(1) distance(1) length(1) twist(1)]);

L(2) = Link([angle(2) distance(2) length(2) twist(2)]);

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MT-624L Robotics Lab Air University, Islamabad

L(3) = Link([angle(3) distance(3) length(3) twist(3)]); L(4) = Link([angle(4) distance(4)

length(4) twist(4)]);

SCORBOT = SerialLink(L);

%forward kinematics for serial link manipulator%

robot = fkine(SCORBOT, [angle(1) angle(2) angle(3) angle(4)])

SCORBOT.name = 'SCORBOT';

SCORBOT.plot([angle(1) angle(2) angle(3) angle(4)]);

Figure 2

GRAPH:

Figure 3

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CRITICAL ANALYSIS / CONCLUSION:

We develop the forward or configuration kinematic equations for rigid robots. The forward
kinematics problem is concerned with the relationship between the individual joints of the robot
manipulator and the position and orientation of the tool or end-effector. Stated more formally, the
forward kinematics problem is to determine the position and orientation of the end-effector, given
the values for the joint variables of the robot. The joint variables are the angles between the links
in the case of revolute or rotational joints, and the link extension in the case of prismatic or sliding
joints. The forward kinematics problem is to be contrasted with the inverse kinematics problem,
which will be studied in the next chapter, and which is concerned with determining values for the
joint variables that achieve a desired position and orientation for the end-effector of the robot.

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