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    1.4 - Exam-1 - Mehrab - Q 2, 5, 7

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    Talash
    The document contains MATLAB code for solving inverse kinematics problems. It defines homogeneous transformation matrices to relate the orientation of each link to the previous link. The code then calculates the transformation matrix relating the end effector to the base link. It also shows code for calculating joint angles given end effector position for different cases.

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    1.4 - Exam-1 - Mehrab - Q 2, 5, 7

    Uploaded by

    Talash
    3 views19 pages
    The document contains MATLAB code for solving inverse kinematics problems. It defines homogeneous transformation matrices to relate the orientation of each link to the previous link. The code then calculates the transformation matrix relating the end effector to the base link. It also shows code for calculating joint angles given end effector position for different cases.

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    1.4_exam-1_Mehrab_ Q 2, 5, 7

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    The document contains MATLAB code for solving inverse kinematics problems. It defines homogeneous transformation matrices to relate the orientation of each link to the previous link. The code then calculates the transformation matrix relating the end effector to the base link. It also shows code for calculating joint angles given end effector position for different cases.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    3 views19 pages

    1.4 - Exam-1 - Mehrab - Q 2, 5, 7

    Uploaded by

    Talash
    The document contains MATLAB code for solving inverse kinematics problems. It defines homogeneous transformation matrices to relate the orientation of each link to the previous link. The code then calculates the transformation matrix relating the end effector to the base link. It also shows code for calculating joint angles given end effector position for different cases.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    You are on page 1of 19

    MATLAB SCREENSHOT FOR CODING OF PROBLEM 2

    MATLAB CODE FOR PROBLEM 2

    % Code for solution to Problem number 7: inverse kinematics


    % Mehrab Masayeed Habib L20495918
    clc
    clear all
    close all
    syms x y R;%we use x to denote for angle theta and use y to denote for angle fi
    A1=[1 0 0; 0 cos(x) -sin(x); 0 sin(x) cos(x)]
    A2=[cos(y) 0 sin(y); 0 1 0; -sin(y) 0 cos(y)]
    A3=[0 -1 0; 1 0 0; 0 0 1]
    A4=[1 0 0; 0 cos(y) sin(y); 0 -sin(y) cos(y)]
    A5=[1 0 0; 0 cos(x) sin(x); 0 -sin(x) cos(x)]
    R=A1*A2*A3*A4*A5;
    disp(R)

    OUTPUT:
    A1 =

    [1, 0, 0]
    [0, cos(x), -sin(x)]
    [0, sin(x), cos(x)]

    A2 =

    [ cos(y), 0, sin(y)]
    [ 0, 1, 0]
    [-sin(y), 0, cos(y)]

    A3 =

    0 -1 0
    1 0 0
    0 0 1

    A4 =

    [1, 0, 0]
    [0, cos(y), sin(y)]
    [0, -sin(y), cos(y)]

    A5 =

    [1, 0, 0]
    [0, cos(x), sin(x)]
    [0, -sin(x), cos(x)]

    [ 0, -cos(x)*(cos(y)^2 + sin(y)^2), -sin(x)*(cos(y)^2


    + sin(y)^2)]
    [cos(x), sin(x)*(sin(x)*cos(y)^2 + sin(x)*sin(y)^2), -cos(x)*(sin(x)*cos(y)^2 +
    sin(x)*sin(y)^2)]
    [sin(x), -sin(x)*(cos(x)*cos(y)^2 + cos(x)*sin(y)^2), cos(x)*(cos(x)*cos(y)^2 +
    cos(x)*sin(y)^2)]
    SCREENSHOT FOR MATLAB CODING OF PROBLEM 5

    MATLAB CODE FOR PROBLEM 5:

    % Code for solution to Problem number 5


    % Mehrab Masayeed Habib L20495918
    clc
    clear all
    close all
    syms T c1 s1 c3 s3 c4 s4 c5 s5 d2 d4 a5; % Here, cos(θ1) is denoted by c1,sin(θ1) is
    denoted by s1 and the like.
    A1=[c1 0 -s1 0; s1 0 c1 0; 0 -1 0 0; 0 0 0 1] %Homogeneous transformation matrics for
    link 1
    A2=[1 0 0 0; 0 0 -1 0; 0 1 0 d2; 0 0 0 1] %Homogeneous transformation matrics for
    link 2
    A3=[c3 0 -s3 0; s3 0 c3 0; 0 -1 0 0; 0 0 0 1] %Homogeneous transformation matrics for
    link 3
    A4=[c4 0 s4 0; s4 0 -c4 0; 0 1 0 d4; 0 0 0 1] %Homogeneous transformation matrics for
    link 4
    A5=[c5 -s5 0 a5*c5; s5 c5 0 a5*s5; 0 0 1 0; 0 0 0 1] %Homogeneous transformation
    matrics for link 5
    T=A1*A2*A3*A4*A5;
    disp(T)
    Output:
    A1 =

    [c1, 0, -s1, 0]
    [s1, 0, c1, 0]
    [ 0, -1, 0, 0]
    [ 0, 0, 0, 1]

    A2 =

    [1, 0, 0, 0]
    [0, 0, -1, 0]
    [0, 1, 0, d2]
    [0, 0, 0, 1]

    A3 =

    [c3, 0, -s3, 0]
    [s3, 0, c3, 0]
    [ 0, -1, 0, 0]
    [ 0, 0, 0, 1]

    A4 =

    [c4, 0, s4, 0]
    [s4, 0, -c4, 0]
    [ 0, 1, 0, d4]
    [ 0, 0, 0, 1]

    A5 =

    [c5, -s5, 0, a5*c5]


    [s5, c5, 0, a5*s5]
    [ 0, 0, 1, 0]
    [ 0, 0, 0, 1]

    [c4*c5*(c1*c3 - s1*s3) - s5*(c1*s3 + c3*s1), - c5*(c1*s3 + c3*s1) - c4*s5*(c1*c3 - s1*s3),


    s4*(c1*c3 - s1*s3), a5*c4*c5*(c1*c3 - s1*s3) - d4*(c1*s3 + c3*s1) - a5*s5*(c1*s3 + c3*s1) -
    d2*s1]
    [s5*(c1*c3 - s1*s3) + c4*c5*(c1*s3 + c3*s1), c5*(c1*c3 - s1*s3) - c4*s5*(c1*s3 + c3*s1),
    s4*(c1*s3 + c3*s1), c1*d2 + d4*(c1*c3 - s1*s3) + a5*s5*(c1*c3 - s1*s3) + a5*c4*c5*(c1*s3 +
    c3*s1)]
    [ -c5*s4, s4*s5, c4,
    -a5*c5*s4]
    [ 0, 0, 0,
    1]

    SOLUTION TO PROBLEM NUMBER 7

    SCREENSHOT FOR MATLAB CODING OF PROBLEM NUMBER 7

    PLEASE SEE NEXT PAGE FOR MATLAB CODING AND OUTPUT


    MATLAB CODING FOR PROBLEM NUMBER 7

    % Code for solution to Problem number 7: inverse kinematics


    % Mehrab Masayeed Habib L20495918
    close all
    clear all
    clc
    x=sqrt(2)
    y=sqrt(2)
    z=2
    d2=z-1 % In figure, we can see, d2= zc-1 and t= joint angle of theta for the first
    link
    t=atan2(y,x)*180/pi % we 180 degree= pi radians
    d3 = -1+sqrt(x^2+y^2) % from the figure, (D3+1)^2= Xc^2+Yc^2

    % we there is special case


    %1) Singularity point
    % when x = 0, y=0> θ1 becomes undefined. This is known as singularity point
    % where any value of θ1 will work for some desired z. It is avoided by
    % adding an offset to the first link

    disp('For Singularity point:')


    x=0
    y=0
    z=2
    d2=z-1
    t= atan2(y,x)*180/pi
    d3 = -1 + sqrt(x^2+y^2)

    % when x=0 and y>0, thetA(θ) 1 will be pi/2 or 90 degrees.


    % we can understand it from the properties of atan2(y,x)

    disp('For x=0 and y>2: ')


    x-0
    y=5
    z=2
    d2= z-1
    t = atan2(y,x)*180/pi
    d3 = -1+sqrt(x^2+y^2)

    Output:
    d2
    1
    t=
    45
    d3 =
    1
    For Singularity point:
    x=
    0
    y=
    0
    z=
    2
    d2 =
    1
    t=
    0
    d3 =
    -1
    For x=0 and y>2:
    ans =
    0
    y=
    5
    z=
    2
    d2 =
    1
    t=
    90
    d3 =
    4

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