Prev: running matlab 7.1 on windows 7
Next: how to convert an image of .mat to .jpg
From: bheemineni on 16 Jan 2010 02:45
Robot Dynamics 09/10

Project
Part 1
Introduction:
Compute the kinematics of the KUKA robot KR 30-3. Axes 4, 5, 6 are not considered, that
means the robot has 3 degrees of freedom.


Implement in Matlab the functions mentioned below for robot kinematics.
As examples the functions for position and velocity of body 1 are implemented.
A trajectory generator is provided (q,qd,qdd) = traj_gen(q_start,q_end,t_end,t)
A 3D visualization is not necessary.


Definition (see sketch in pdf file)
-Inertial base has index 0
-Rotation with q1 about z1 axis
-Rotation with q2 about z2 axis
-Rotation with q3 about z3 axis
-Vector between joint 1 and joint 2 is 1r12
-Vector between joint 2 and joint 3 is 2r23
-Vector between joint 3 and tool center point P is 3r34
-Centers of gravity C1, C2, C3 are at half distance of 1r12, 2r23, 3r34

1r12= 3by3 column matrix (350 0 815) this is row matrix,but take it assume as coloum matrix......
2r23=3by3 column matrix(0 850 0)
3r34=3by3 column matrix(-145 990 0)

Calculate:


Body 1:

Write functions for computing position, velocity and acceleration of the center of gravity C1
in the inertial base
-Function for position p = r1_in_0(q)
-Function for velocity v = rd1_in_0(q,qd)
-Function for acceleration a = rdd1_in_0(q,qd,qdd)


Write functions for computing angular velocity and angular acceleration of the center of
gravity C1 in the body fixed base (fixed at the center of gravity)
-Function for angular velocity av = w1_in_1(q,qd)
-Function for angular acceleration aa = wd1_in_1(q,qd,qdd)


Body 2:

Write functions for computing position, velocity and acceleration of the center of gravity C2
in the inertial base
-Function for position p = r2_in_0(q)
-Function for velocity v = rd2_in_0(q,qd)
-Function for acceleration a = rdd2_in_0(q,qd,qdd)


Write functions for computing angular velocity and angular acceleration of the center of
gravity C2 in the body fixed base (fixed at the center of gravity)
-Function for angular velocity av = w2_in_2(q,qd)
-Function for angular acceleration aa = wd2_in_2(q,qd,qdd)



Robot Dynamics 09/10

Body 3:

Write functions for computing position, velocity and acceleration of the center of gravity C3
in the inertial base
-Function for position p = r3_in_0(q)
-Function for velocity v = rd3_in_0(q,qd)
-Function for acceleration a = rdd3_in_0(q,qd,qdd)


Write functions for computing angular velocity and angular acceleration of the center of
gravity C3 in the body fixed base (fixed at the center of gravity)
-Function for angular velocity av = w3_in_3(q,qd)
-Function for angular acceleration aa = wd3_in_3(q,qd,qdd)


Forwards kinematics:

Compute the forward kinematics of the robot, that means compute the position of the tool
center point P in the inertial base
-Function p = forward_kinematics(q)

Inverse kinematics:

Compute the inverse kinematics of the robot, that means compute angles depending on the
state bit vector b for choosing unique solutions
-Function q = inverse_kinematics(p, b)

Testing:
Test 1: Use the trajectory generator for the joint angles. The trajectory ends at 3 seconds, that
means t_end is 3 for each axis. q1 starts at 0 and ends at 60°, q2 starts at 90° and ends at 30°,
q3 starts at -90° and ends at 45°
-Plot position, velocity and acceleration of point P
-Plot position, velocity and acceleration of C3
-Plot angular velocity and angular acceleration of C3

Test 2: Use the trajectory generator for the x-, y-, z-coordinate of the tool center point P and
choose start and end points inside the reachable workspace. Compute the inverse kinematics.
-Plot the joint angles

Use the computed joint angles from inverse kinematics as input for the forwards kinematic.
-Plot the position of P from the trajectory generator and from the forward kinematics. Is there a difference?



this is topic guys ..i am trying this from one month onwards....but i am unable to find the solution...
If some one really take it as challenge..and want more clear pdf....i will send it to ur email..if u reply me....but its the problem for me to complete my 3 rd semister.....

 | 
Pages: 1
Prev: running matlab 7.1 on windows 7
Next: how to convert an image of .mat to .jpg