ARTICLE

International Journal of Advanced Robotic Systems

Kinematic Modelling and Simulation

of a 2-R Robot Using SolidWorks
and Verification by MATLAB/Simulink
Regular Paper

Mahmoud Gouasmi1,*, Mohammed Ouali1, Brahim Fernini1 and Mhamed Meghatria1

1 Algeria Structural Mechanics Research Laboratory, Mechanical Engineering Department, Blida University, Algeria
* Corresponding author E-mail: ygouasmi@hotmail.com

Received 11 Apr 2012; Accepted 26 May 2012

DOI: 10.5772/50203
2012 Gouasmi et al.; licensee InTech. This is an open access article distributed under the terms of the Creative
Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use,
distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract The simulation of robot systems is becoming

very popular, especially with the lowering of the cost of
computers, and it can be used for layout evaluation,
feasibility studies, presentations with animation and off
lineprogramming.

The trajectory planning of redundant manipulators is a

very active area since many tasks require special
characteristics to be satisfied. The importance of
redundant manipulators has increased over the last two
decades because of the possibility of avoiding
singularities as well as obstacles within the course of
motion. The angle that the last link of a 2 DOF
manipulatormakeswiththexaxisisrequiredinorderto
findthesolutionfortheinversekinematicsproblem.This
angle could be optimized with respect to a given
specified key factor (time, velocity, torques) while the
endeffector performs a chosen trajectory (i.e.,avoiding
anobstacle)inthetaskspace.

Modeling and simulation of robots could be achieved

using either of the following models: the geometrical
model(positions,postures),thekinematicmodelandthe
dynamicmodel.
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To do so, the modelization of a 2R robot type is

implemented. Our main tasks are comparing two robot
postureswiththesametrajectory(path)andforthesame
length of time, and establishing a computing code to
obtainthekinematicanddynamicparameters.

SolidWorks and MATLAB/Simulink softwares are used

tocheckthetheoryandtherobotmotionsimulation.

This could be easily generalized to a 3R robot and

possiblythereforetoanyserialrobot(Scara,Puma,etc.).

Theverificationoftheobtainedresultsbybothsoftwares
allows us to qualitatively evaluate and underline the
validityof the chosen model and obtain the right
conclusions. The results of the simulations are discussed
andanagreementbetweenthetwosoftwaresiscertainly
obtained.

Keywords Multibody Systems, 2R Robot Modelization,

Kinematic Model, Dynamic Behaviour, Manipulability
Simulation

Int JBrahim
Adv Robotic
2012,
Vol. 9,Meghatria:
245:2012
Mahmoud Gouasmi, Mohammed Ouali,
FerniniSy,
and
Mhamed
Kinematic Modelling and Simulation of a 2-R Robot Using SolidWorks and Verification by MATLAB/Simulink

1.Introduction
Roboticsisaspecialengineeringsciencewhichdealswith
robot design, modelling, controlling and utilization.
Nowadaysrobotsaccompanypeopleineverydaylifeand
have taken over some of their daily procedures. The
rangeofrobotutilizationisverywide,fromtoysthrough
to office and industrial robots, through to very
sophisticatedonesneededforspaceexploration.

A large family of robot manufacturing equipment exists,

supplying the motion required in manufacturing
processessuchasarcwelding,spraypainting,assembly,
pickandplace,cutting,polishing,milling,drilling,etc.Of
this class of equipment, an increasingly popular type is
theindustrialrobot.Differentmanipulatorconfigurations
are available such as rectangular, cylindrical, spherical,
revoluteandhorizontaljointed.

Kinematically redundant manipulators have many

advantages over nonredundant robots. A redundant
manipulator is defined as having an infinite number of
solutions to the joint variables of the manipulator for a
giventask.Itcanavoidobstaclesandsingularities,andis
anexcellentcandidateforoptimizationtechniques.Many
optimization techniques have been applied to select the
optimal trajectory of a manipulator using different
criteria such as minimum time, minimum kinetic energy
andobstacleavoidance.

Amanipulationtaskisusuallygivenintermsofadesired
endeffector trajectory. Since the manipulator is
controlledbyjointservos,amappingfromthetaskspace
to the joint space is required. Trajectory planning
convertsadescriptionofadesiredmotiontoatrajectory
definingthetimesequenceofintermediateconfigurations
of the arm between the origin and the final destination.
An effective approach to the motion control problem for
roboticmanipulatorsisthesocalledkinematiccontrol.

This is based on an inverse kinematic transformation

which feeds the reference values corresponding to an
assignedendeffectortrajectorytothejointservos.

A vertical revolute configuration, a 2R robot with two

degreesoffreedomisgenerallywellsuitedforsmallparts
insertion tasks for assembly lines like electronic
components insertion [2]. Although the final aim is real
robotics,itisoftenveryusefultoperformsimulationsprior
to investigations with real robots [1]. This is because
simulations are easier to setup, less expensive, faster and
moreconvenienttouse.Buildingupnewrobotmodelsand
settingupexperimentsonlytakesafewhours.Asimulated
robotics setup is less expensive than real robots and real
world setups, thus allowing better design exploration.
Simulations often run faster than real robots while all the
parametersareeasilydisplayedonscreen[3].
2

Int J Adv Robotic Sy, 2012, Vol. 9, 245:2012

Thepossibilitytoperformrealtimesimulationsbecomes
particularly important in the later stages of the design
process. The final design can be verified before one
embarks on the costly and time consuming process of
buildingaprototype[4].

The need for accurate and computationally efficient

manipulator dynamics has been extensively emphasized
in recent years. The modelling and simulation of robot
systems by using various program softwares will
facilitate the process of designing, constructing and
inspecting the robots in the real world. A simulation is
important for robot programmers in allowing them to
evaluate and predict the behaviour of a robot, and in
addition to verify and optimize the path planning of the
process[5].Moreover,thiswillsavetimeandmoney,and
playanimportantroleintheevaluationofmanufacturing
automation [6]. Being able to simulate opens up a wide
range of options, helping to solve many problems
creatively.Onecaninvestigate,design,visualizeandtest
anobjectbeforemakingitareality[7].

Inthiswork,atwoaxis2Rrobotsystemforapickand
place operation will be designed and developed using
the SolidWorks program and MATLAB/Simulink
simultaneouslyasshowninFigure1andFigure2.

Figure1.A2RrobotusingSolidWorks

Thestructurewillbebuiltdependingontheprinciplesof
solidbodiesmodellingwithSDtechnology[8,9].

The individual joints trajectories, velocities and

accelerations can be obtained using inverse kinematics
equations.

To emphasize the obtained results in the SolidWorks

program, simulations usingMATLAB/Simulink software
will be carried out. The results of both sofwares will be
presented and discussed. In the paper, the kinematic
equations for a 2R robot as well as the robot dynamics
foreachjointweredevelopedusingtheDHformulation.

The paper is organized as follows: in chapter 2 forward

(direct) kinematics, inverse kinematics as well as the
www.intechopen.com

dynamics of the 2R robot arepresented. In chapter 3 we

present the simulation applications, implementing both

softwares, and finally in the concluding chapter 4 some

importantresultsareshown.

CS2
B

CS3

Revolute1

Pice1000-2

CS2

Weld1

CS3
CS2

Pice4-3

CS3

CS4
Cylindrical

Pice1000-1
B

Revolute
CS2

Env

CS3
B
RootGround

F
Weld2

CS3

CS2

RootPart

Pice2-1

F
Weld

Figure2.Thesame2RrobotmodelledinMATLAB/Simulink

2.Robotkinematicsanddynamics
2.1Forwardkinematics
ConsiderthetwoDOFplanarredundantmanipulatoras
shown in Figure 3 where the joints axes are assigned
based on the DenavitHartenberg representation (Table
1). The manipulator moves in a vertical plane so the
gravityforceisincludedinthenumericalsimulation.

Link

ai

di

l1

1*

l2

2*

Table1.DHparametersofthe2Rrobot

The(4x4)rigidtransformationmatricesare:

Forthefirstlink:

c1 s1

s
c1
T10 1
0
0

0
0

0 l1c1

0 l1s1
(1)
1 0

0 1

andthesecondlink:

Figure3.DHparametersofthetwojoint2Rrobot
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c2

s
T21 2
0

s2
c2
0
0

0 l2c2

0 l2 s2
(2)
1 0

0 1

Mahmoud Gouasmi, Mohammed Ouali, Brahim Fernini and Mhamed Meghatria:

Kinematic Modelling and Simulation of a 2-R Robot Using SolidWorks and Verification by MATLAB/Simulink

We can then
n get the overrall manipulattor transformaation
matrix:
c12

s
T20 12
0

s12
c12
0

0 l1c1 l2c12

0 l1s1 l2 s12
(3)

1
0

0
1

nematicsoftherobot
2.2Inversekin

p
x
c1
py

oX

aX

oz

az

oy

ay

pX

py
(4)
pz
1

s1 (l1 l2 c2 ) py l2 s2 px
(17))

pX2 p y2

c1

c1 (l1 l2 c2 ) px l2 s2 py
(18))

pX2 py2

Thefinalequ
uationrepresen
ntingtherobo
otis:[10]:
T20 THR (5)

andfinallywehaave:

1 a tan

variable 2 :
Forthejointv

Weget:

( l1 l2 c2 ) p y l2 s2 px
s1
a tan
n
(19))
c1
( l1 l2 c2 ) px l2 s2 py

The sign( )indiicatesthetwo

opostures,ellbowupand
d
elb
bowdown,offthemanipulaator.

Theanglesforelb
bowupare:

pX l1c1 l2c12 (6)

2 a tan

py l1s1 l2 s12 (7)

Wethenhavee:

1 a tan
c2

1
( p 2 py 2 l12 l22 ) (8)
2l1l2 X

s2 1 c2 2 (9)

2 a tan

s2
(10)
c2

Thejointvariiable 1 :

l2 s2
(16))
l1 l2 c2

s1

Thedesiredllocationofthee2Rrobotis givenbythe((4x4)
matrix:
nX

ny
THR
nz
0

px
(15))
py

l l c
1
2 2
s1
l2 s2

s2
(20))
c2

pxl2 s2 py (l1 l2c2 )

px (l1 l2c2 ) ( py l2 s2 )

(21))

andtheanglesforrelbowdown
nare:

2 a tan

1 a tan

s2
(22))
c2

px l2 s2 py (l1 l2c2 )
px ( l1 l2 c2 ) ( py l2 s2 )

(23))

Rearrangingequation(6)aandequation((7)yields:

pX ( l1 l2c2 )c1 l2 s2 s1 (11)

p y l2 s2c1 (l1 l2c2 )s1 (12)

Solvingequaations(11)and
d(12)byCram
mersrule:

l l c
1 2 2
l2 s2

l2 s2
2
2
(l1 l2 c2 ) (l2 s2 ) (13)
l1 l2c2

andwehave:

pX2 py2 (l1 l2c2 )2 ( l2 s2 )2 (14)

Int J Adv Robotic Sy, 2012, Vol. 9, 245:2012

Figu
ure4.Thetwop
posturesofthe22Rrobot
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2.3Robotdynamics

The initial position (at t = 0) from the homogeneous

transformation matrix (3) where 1 0 and 2 0 as
showninthefollowingfigures:

2.3.1Kineticenergy
K1

1
m l 2 2 (24)
2 11 1

K 2 m2 l1212 m2 l22 (1 2 )2 m2 l1 l2 (12 1 2 ) cos 2 (25)

2.3.2Potentialenergy

V1 m1gl1 sin 1 (26)

V2 m2 gy2 m2 g[l1 sin 1 l2 sin(1 2 )] (27)

2.3.3Jointstorques

Using the NewtonEuler recursive method we can

calculatethenecessarytorquesforeachjoint:

Figure6.Thehomepositionofthe2Rrobot(twopostures):
MATLAB/Simulink

1 m2l22 (1 2 ) m2l1l2 c2 (21 2 )

( m1 m2 )l121 m2l1l2 s222 2 m2l1l2 s21 2 (28)

m2 l2 gc12 ( m1 m2 )l1gc1

2 m2l1l2c21 m2l1l2 s212 m2l2 gc12 m2 l22 (1 2 ) (29)

3.Simulationresults
3.1Application
This application will bear the energetic comparison
during the movement of the 2R robot with
m1 m2 16.92 Kg and l1 l2 1m ,forthetwopostures.

We can easily follow and observe the movements of the

twopostureselbowdownandelbowupforthesame
natureofthetrajectory(path),reachingthesamedesired
positionduringthesameintervaloftimeof1sasshown
inthefollowingdiagram:

Figure7.Thehomepositionofthe2Rrobot(twopostures):
SolidWorks

Startingfromagiveninitialposition,i.e.,
pX 2 ; p y 0
Toadesiredposition,i.e,
pX 0.86 ; p y 1.5
The equations of movement for the borrowed path for
elbowdowntoreachthedesiredpositionsaregivenby
thetwofollowingchosenpolynomials[11]:

1 (10t 4 10t 3 10t 2 ) (30)

2 (50t 4 10t 3 ) (31)

While the equations of movement for the followed

trajectory for elbow up to reach the desired position
willbegivenbytherelations[11]:

Figure5.Link:massparameters

www.intechopen.com

1 (60t 4 20t 3 10t 2 ) (32)

2 ( 50t 4 10t 3 ) (33)

Mahmoud Gouasmi, Mohammed Ouali, Brahim Fernini and Mhamed Meghatria:

Kinematic Modelling and Simulation of a 2-R Robot Using SolidWorks and Verification by MATLAB/Simulink

The choice of expressions of 1 and 2 must satisfy the

followingtwoconditions[11]:

In the meantime (interval time) must verify the initial

andthedesiredposition.
At every moment the two postures (elbow down and
up)musthavethesamecoordinates Px and Py .

NB:Anotherexampleoftrajectorygenerationisgivenin
theAppendixattheendofthispaper.

3.1.1Theresultingpath
Wemaycheckthepath:

Applying the relations (20), (21), (22) and (23) in (6) and
(7)wecanobtainthefollowingtable:

Elbowdown

time(sec)

Elbowup

Theta1(deg) Theta2(deg)

pX (m)

py (m)

Theta1(deg) Theta2(deg)

pX (m) py (m)

0.11

0.015

1.99

0.004

0.126

0.015

1.99

0.004

0.49

0.16

1.99

0.02

0.65

0.16

1.99

0.02

1.25

0.67

0.05

1.92

0.67

0.05

2.49

1.92

1.996

0.12

4.41

1.92

1.996

0.12

4.37

4.37

1.98

0.21

8.75

4.37

1.98

0.21

7.05

8.64

1.95

0.39

15.69

8.67

1.95

0.39

10.73

15.43

1.88

0.62

26.16

15.43

1.88

0.62

15.61

25.6

1.71

0.927

41.21

25.6

1.71

0.927

20

40.09

1.44

1.20

59.04

40.09

1.44

1.20

30

60

0.86

1.5

90

60

0.86

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

1.5

Table2.Thepositionforthetwoposturesduring1s
6

Int J Adv Robotic Sy, 2012, Vol. 9, 245:2012

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3.1.2CheckingthetheoreticalresultsofTable2using
SolidWorksandMATLAB/Simulink
Att=0.5s

Elbowdown;

Figure12.Elbowup(SolidWorks)
andatt=1s

Elbowdown;

Figure9.Elbowdown(MATLAB/Simulink)

Figure13.Elbowdown(MATLAB/Simulink)

Figure10.Elbowdown(SolidWorks)

Elbowup:

Figure14.Elbowdown(SolidWorks)
Elbowup;

Figure11.Elbowup(MATLAB/Simulink)
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Figure15.Elbowup(MATLAB/Simulink)

Mahmoud Gouasmi, Mohammed Ouali, Brahim Fernini and Mhamed Meghatria:

Kinematic Modelling and Simulation of a 2-R Robot Using SolidWorks and Verification by MATLAB/Simulink

3.1.4Thedisplacementofcentreofgravityforthetwopostures

Figure16.Elbowup(SolidWorks)

P o s itio n d u c e n t re d e g r a v it 1 ( m m )

482

ThejointvariablesexpressedinMATLAB/Simulinkarein
radians.
3.1.3Individualchangeofpositionofthetwolinksforthe
twoposturesduring1s.

351

221

91

-39
0.00

0.30

0.40

0.50 0.60
Dure (sec)

0.70

0.50 0.60
Dure (sec)

0.70

0.50 0.60
Dure (sec)

0.70

0.80

0.90

1.00

P o s i ti o n d u c e n t r e d e g r a v i t 2 ( m m )

1501
1223
946
669
392
0.00

Figure18.Elbowup

NOTE1:Theresultsobtained,whetherusingSolidWorks
or MATLAB/Simulink, are exactly the same. This
similarity of results confirms the reliability of the
kinematicmodel.

0.10

0.20

0.30

0.40

0.80

0.90

1.00

Figure22.link2(x)elbowup

P o s i ti o n d u c e n t r e d e g r a v it 1 ( m m )

Figure17.Elbowdown

Int J Adv Robotic Sy, 2012, Vol. 9, 245:2012

0.20

Figure21.Link1(x)elbowup

WecantakeadvantageofthisanalysisusingSolidWorks
to study the behaviour of the robot for the two postures
to establish an energetic balance comparative to these
postures.

0.10

589
461
332
204
76
0.00

0.10

0.20

0.30

0.40

0.80

0.90

1.00

Figure23.Link1(y)elbowup
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Position du centre de gravit3 (mm)

Position du centre de gravit2 (mm)

1320

1002

685

367

291
237
184
130

76
0.00 0.10 0.20 0.30 0.40 0.50 0.60 0.70 0.80 0.90 1.00
Dure (sec)

49
0.000.10 0.20 0.300.40 0.50 0.600.70 0.80 0.90 1.00
Dure (sec)

Figure27.Link1(y)elbowdown

Po sitio n d u ce n tre d e g ra vit 4 ( m m )

Position du centre de gr avit1 ( m m)

Figure24.link2(y)elbowup

482
471
460
450

998
761
524
287
49
0.00 0.10 0.20 0.30 0.40 0.50 0.60 0.70 0.80 0.90 1.00
Dure (sec)

Figure28.Link2(y)elbowdown

439
0.00 0.10 0.20 0.30 0.40 0.50 0.60 0.70 0.80 0.90 1.00
Dure (sec)

Figure25.Link1(x)elbowdown

NOTE 2: According to the results, we notice that the

displacement and velocity of the links 1 and 2 of elbow
up are higher than the displacement and velocity of the
links1and2ofelbowdown,thisdifferencecaninducea
difference in the consumed energy for the two postures,
forthesametrajectoryandthesamedesiredposition.

Position du centre de gra vit2 ( mm )

3.1.5Simulationofdynamicmodel
1501

1343

1185

1027

869
0.00 0.10 0.20 0.30 0.40 0.50 0.60 0.70 0.80 0.90 1.00
Dure (sec)

Figure26.link2(x)elbowdown
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Figure29.Kineticenergy

Mahmoud Gouasmi, Mohammed Ouali, Brahim Fernini and Mhamed Meghatria:

Kinematic Modelling and Simulation of a 2-R Robot Using SolidWorks and Verification by MATLAB/Simulink


Figure30.Potentialenergy

variationofthetotalkineticenergycalculatedforposture
elbowdownwith: K 243.02 J
The variation of the total potential energy calculated
according to posture elbow up is higher than the
variation of the total potential energy calculated
accordingtopostureelbowdownwith: V 82.95 J .

We notice also that the torque of joint 1 calculated

according to posture elbow up at t=1s is 1 446.33Nm
withamax 1 900Nm ,ontheotherhandthetorqueof
joint 1 calculated for posture elbow down is
1 395.18Nm withamax 1 820Nm

Otherwise the torque of joint 2 calculated according to

posture elbow up at t=1s is 2 127Nm with a max
2 300Nm ,while the torque of joint 2 calculated
accordingtopostureelbowdownis 2 319.65Nm witha
max 2 330Nm

NOTE4:Therobotconsumesmuchmoreenergywhenit
isrequestedtoworkaccordingtoelbowup,forthesame
trajectory and the same desired position according to
elbowdown;[10][11][12]

4.Conclusion

Figure31.Jointtorque(1)

Figure32.Jointtorque(2)

NOTE3:Comparisonbetweenthetwopostures:

Wenoticefromthesimulationresultsthat:

The variation of the total kinetic energy calculated

according to posture elbow up is higher than the
10 Int J Adv Robotic Sy, 2012, Vol. 9, 245:2012

In this paper we used both softwares SolidWorks and

MATLAB/Simulinktoverifythetheory(Table2)andthe
simulationoftherobotmotion.

Checking the results obtained by the two softwares,

SolidWorks and MATLAB/Simulink, permitted us to
qualitatively develop and highlight the relevance of the
studiedmodel.

Thiscanbeeasilyjustifiedwhenbearinginmindthatthe
effect of different combinations of the two angles will
playamajorroleindeterminingthevalueofthepotential
energy of thesecond link, and the potential energy of a
linkwillplaythegreatestroleindeterminingthetorque
valueofthatlink.

Inourcase,wecanconclude(dependingontheobtained
results by the comparative analysis of the two postures)
that the dissipated energies during the movement of the
robot according to the first posture (elbow down) are
lower than those which would be dissipated if the robot
performsthemovementaccordingtothesecondposture
(elbow up), and this is for the same trajectory and the
same duration according to the presentations listed
above.Seenotes1,2,3and4.

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Appendix

2-R Robot trajectory

2

Simple two link

plot

qd

[4x4]

qdd

le two link

jtraj
2

T2xyz
[4x4]

XY Graph

fkine

Figure33.Trajectorygenerationof2RrobotwithMATLAB/Simulink

Figure34.Simulationblocktocalculatethetrajectory

Sometrajectoriesobtainedinthedisplacementsofthetwoposturesforthesamedesiredpositionduring1s:
Elbowup:[11]Elbowdown:[11]

1 (180t 20t 2 70t 5 )0 1 (90t10 60t 2 )0

2 ( 180t 20t 2 100t 5 )0 2 ( 90t10 150t 2 )0
l1 l2 1m l1 l2 1m

www.intechopen.com

Mahmoud Gouasmi, Mohammed Ouali, Brahim Fernini and Mhamed Meghatria:

Kinematic Modelling and Simulation of a 2-R Robot Using SolidWorks and Verification by MATLAB/Simulink

11

Simulationofthemotion

(a)(b)
Figure35.(a)Elbowup(MATLAB/Simulink);(b)Elbowup(SolidWorks)

(a)(b)
Figure36.(a)Elbowdown(MATLAB/Simulink);(b)Elbowdown(SolidWorks)

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www.intechopen.com

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441917492 eISBN 9781441917508 DOI
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[12]B. Siciliano, L. Sciavicco, G. Villani, G. Oriolo:
Robotics: Modelling, Planning and Control,
Springer,2009(3rdEdition)

Mahmoud Gouasmi, Mohammed Ouali, Brahim Fernini and Mhamed Meghatria:

Kinematic Modelling and Simulation of a 2-R Robot Using SolidWorks and Verification by MATLAB/Simulink

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