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Assignment 2

robotics problem

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Mohamed Nada
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20 views

Assignment 2

robotics problem

Uploaded by

Mohamed Nada
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Robotics

MTE 224 - 62
[ Assignment 2]

Submitted by
Mohamed Mahmoud Abdullah Nada
20200982
B.NO. 34
Mechatronics Eng. Dept.
Higher Technological Institute
Submitted to
Dr. Ehab Faidallah
Eng. Ahmed Moustafa
Mar. 2024
1. Frame diagram with axis for each joint for the robot KUKA KR 3 R540.
2. Solving forward kinematics.
3. Apply the mentioned robot with MATLAB (robotics toolbox) and compare the result and the
solved forward kinematics.
Solution

1) Frame diagram with axis for each joint for the robot KUKA KR 3 R540.
X4 X5 X6

X3 Z5 Z6

Z3 Z4

X2
Z2

X1
Z1

Z0

X0
2) Solving forward kinematics.
DH Parameter
Link i ai αi di θi
Link 1 20 -90 345 θ1
Link 2 260 0 0 θ2
Link 3 20 90 0 θ3
Link 4 0 -90 260 θ4
Link 5 0 90 0 θ5
Link 6 0 0 75 θ6
Assume all θ = 0
θ1 = θ2 = θ3 = θ4 = θ5 = θ6 = 0

Matrix Solving
𝐶𝜃 −𝑆𝜃 𝐶𝛼 𝑆𝜃 𝑆𝛼 𝑎 𝐶𝜃
𝑆𝜃 𝐶𝜃 𝐶𝛼 −𝐶𝜃 𝑆𝛼 𝑎 𝑆𝜃
𝑇 =
0 𝑆𝛼 𝐶𝛼 𝑑
0 0 0 1
1 0 0 20 1 0 0 260 1 0 0 20
0 0 1 0 0 1 0 0 0 0 0 0
𝑇 = 𝑇 = 𝑇 =
0 −1 0 345 0 0 1 0 0 1 0 0
0 0 0 1 0 0 0 1 0 0 0 1
1 0 0 0 1 0 0 0 1 0 0 0
0 0 1 0 0 0 −1 0 0 1 0 0
𝑇 = 𝑇 = 𝑇 =
0 −1 0 260 0 1 0 0 0 0 1 75
0 0 0 1 0 0 0 1 0 0 0 1
𝑇 =𝑇 ∙𝑇 ∙𝑇 ∙𝑇 ∙𝑇 ∙𝑇
1 0 0 300
0 −1 0 0
𝑇 =
0 0 −1 10
0 0 0 1

3) Apply the mentioned robot with MATLAB (robotics toolbox) and


compare the result and the solved forward kinematics.
MATLAB Code
Result

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