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    Experiment - 07: FIG1: Manipulator

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    Manthan Singh
    The document describes an experiment using RoboAnalyzer software to determine the inverse kinematics and inverse dynamics solutions of robotic manipulators. It discusses using RoboAnalyzer to determine the inverse kinematic solution of a 6 DOF KUKA-KR5 robot and the inverse dynamic solution of a 2 DOF robot. The methodology involves using the Denavit-Hartenberg parameters and transformation matrices to relate joint angles to end effector positions and velocities and accelerations to required joint torques. Graphs of the solutions are presented.

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    Experiment - 07: FIG1: Manipulator

    Uploaded by

    Manthan Singh
    45 views11 pages
    The document describes an experiment using RoboAnalyzer software to determine the inverse kinematics and inverse dynamics solutions of robotic manipulators. It discusses using RoboAnalyzer to determine the inverse kinematic solution of a 6 DOF KUKA-KR5 robot and the inverse dynamic solution of a 2 DOF robot. The methodology involves using the Denavit-Hartenberg parameters and transformation matrices to relate joint angles to end effector positions and velocities and accelerations to required joint torques. Graphs of the solutions are presented.

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    exp 7&8

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    The document describes an experiment using RoboAnalyzer software to determine the inverse kinematics and inverse dynamics solutions of robotic manipulators. It discusses using RoboAnalyzer to determine the inverse kinematic solution of a 6 DOF KUKA-KR5 robot and the inverse dynamic solution of a 2 DOF robot. The methodology involves using the Denavit-Hartenberg parameters and transformation matrices to relate joint angles to end effector positions and velocities and accelerations to required joint torques. Graphs of the solutions are presented.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    45 views11 pages

    Experiment - 07: FIG1: Manipulator

    Uploaded by

    Manthan Singh
    The document describes an experiment using RoboAnalyzer software to determine the inverse kinematics and inverse dynamics solutions of robotic manipulators. It discusses using RoboAnalyzer to determine the inverse kinematic solution of a 6 DOF KUKA-KR5 robot and the inverse dynamic solution of a 2 DOF robot. The methodology involves using the Denavit-Hartenberg parameters and transformation matrices to relate joint angles to end effector positions and velocities and accelerations to required joint torques. Graphs of the solutions are presented.

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    EXPERIMENT -07

    Aim: -
    To determine the inverse kinematic solution of 6 DOF (KUKA-KR5) robot using RoboAnalyser.

    Methodology: -
    RoboAnalyzer is a 3D model-based software that can be used to teach and learn the Robotics
    concepts. It is an evolving product developed in Mechatronics Lab, Department of Mechanical
    Engineering at IIT Delhi, New Delhi, India.
    Mathematics involved in the study of robotics, e.g., forward and inverse kinematics etc. is
    initially difficult to understand by students and same is the case by a teacher to convey the
    essence of mathematics of robotics to the students. This is due to fact that, for example, forward
    and inverse kinematics involve 3D transformations etc. It is also to be noted that the industrial
    robots are represented using DH parameters which are difficult to perceive and visualize in 3D.
    RoboAnalyzer aims to ease out the above difficulties for students and teachers.

    Theory: -
    Inverse Kinematics:
    In robotics and computer animation, inverse kinematics is the mathematical process of
    calculating the variable joint parameters needed to place the end of a kinematic chain, such as a
    robot manipulator or animation character's skeleton, in a given position and orientation relative
    to the start of the chain.

    FIG1: 6 DOF KUKA-KR5 manipulator


    Note: constants are system parameters.
    b Theta (Variable) a Alpha
    (Constant) (Constant) (Constant)
    0.4 Theta1 0.18 90
    0.135 Theta2 0.6 180
    0.135 Theta3 0.12 -90
    0.62 Theta4 0 90
    0 Theta5 0 -90
    0.115 Theta6 0 0

    FIG 2: D-H parameter of KUKA-KR5 manipulator

    For end effector position of: X = 0.08, Y = 0.1, Z = 1.2

    First we will write down the DH matrix:

    𝑐𝑜𝑠θ1 −𝑠𝑖𝑛θ1cosα1 𝑠𝑖𝑛θ1𝑠𝑖𝑛α1 𝑎𝑐𝑜𝑠θ1


    𝐷𝐻1 = [ 𝑠𝑖𝑛θ1 cosθ1cosα1 −cosθ1sinα1 𝑎𝑠𝑖𝑛θ1 ]
    0 𝑠𝑖𝑛α1 cosα1 𝑏
    𝑐𝑜𝑠θ2 −𝑠𝑖𝑛θ2cosα2 𝑠𝑖𝑛θ2𝑠𝑖𝑛α2 𝑎𝑐𝑜𝑠θ2
    𝐷𝐻2 = [ 𝑠𝑖𝑛θ2 cosθ2cosα2 −cosθ2sinα2 𝑎𝑠𝑖𝑛θ2 ]
    0 𝑠𝑖𝑛α2 cosα2 𝑏
    𝑐𝑜𝑠θ3 −𝑠𝑖𝑛θ3cosα3 𝑠𝑖𝑛θ3𝑠𝑖𝑛α3 𝑎𝑐𝑜𝑠θ3
    𝐷𝐻3 = [ 𝑠𝑖𝑛θ3 cosθ3cosα3 −cosθ1sinα3 𝑎𝑠𝑖𝑛θ3 ]
    0 𝑠𝑖𝑛α3 cosα3 𝑏
    𝑐𝑜𝑠θ4 −𝑠𝑖𝑛θ4cosα4 𝑠𝑖𝑛θ4𝑠𝑖𝑛α4 𝑎𝑐𝑜𝑠θ4
    𝐷𝐻4 = [ 𝑠𝑖𝑛θ4 cosθ4cosα4 −cosθ4sinα4 𝑎𝑠𝑖𝑛θ4 ]
    0 𝑠𝑖𝑛α3 cosα4 𝑏
    𝑐𝑜𝑠θ5 −𝑠𝑖𝑛θ5cosα5 𝑠𝑖𝑛θ5𝑠𝑖𝑛α5 𝑎𝑐𝑜𝑠θ5
    𝐷𝐻5 = [ 𝑠𝑖𝑛θ5 cosθ5cosα5 −cosθ5sinα5 𝑎𝑠𝑖𝑛θ5 ]
    0 𝑠𝑖𝑛α5 cosα5 𝑏
    𝑐𝑜𝑠θ6 −𝑠𝑖𝑛θ6cosα6 𝑠𝑖𝑛θ6𝑠𝑖𝑛α6 𝑎𝑐𝑜𝑠θ6
    𝐷𝐻6 = [ 𝑠𝑖𝑛θ6 cosθ6cosα6 −cosθ6sin6 𝑎𝑠𝑖𝑛θ6 ]
    0 𝑠𝑖𝑛α6 cosα6 𝑏

    DH = DH1 x DH2 X DH3 X DH4 x DH5 X DH6


    Equating with the value of X & Y we will get :-

    0.1 = X = a1 cos (Theta1) + a2 cos (Theta1+ Theta2) + a3 cos (Theta1 + Theta2 + Theta 3)
    0.1 = Y = a1 sin (Theta1) + a2 sin (Theta1+ Theta2) + a3 sin (Theta1 + Theta2 + Theta 3)
    90 = Theta = Theta1+ Theta 2+ Theta 3

    Results: -

    FIG 3: Solution 1 of inverse kinematics of KUKA-KR5

    FIG 4: Solution 1 of inverse kinematics of KUKA-KR5


    FIG 5: Solution 1 of inverse kinematics of KUKA-KR5

    FIG 6: Solution 1 of inverse kinematics of KUKA-KR5

    FIG 7: Solution 1 of inverse kinematics of KUKA-KR5


    FIG 8: Solution 1 of inverse kinematics of KUKA-KR5

    FIG 9: Solution 7 of inverse kinematics of KUKA-KR5

    FIG 9: Solution 7 of inverse kinematics of KUKA-KR5


    Discussions:
    The equations that we get from DH matrix defines the configuration of the robot in terms of its
    joint parameters. Forward kinematics uses the joint parameters to compute the configuration of
    the chain, and inverse kinematics reverses this calculation to determine the joint parameters that
    achieve a desired configuration.
    EXPERIMENT -08
    Aim: -
    To determine the inverse dynamics solution of 2 DOF robot of robot using Roboanalyser.

    Methodology: -
    RoboAnalyzer is a 3D model-based programming that can be utilized to instruct and gain
    proficiency with the Robotics ideas. It is an advancing item evolved in Mechatronics Lab,
    Department of Mechanical Engineering at IIT Delhi, New Delhi, India.

    Arithmetic associated with the investigation of mechanical technology, e.g., forward and
    opposite kinematics and so on is at first hard to comprehend by understudies and same is the
    situation by an instructor to pass on the substance of science of apply autonomy to the
    understudies. This is because of certainty that, for instance, forward and backwards kinematics
    include 3D changes and so on. It is additionally to be noticed that the mechanical robots are
    spoken to utilizing DH parameters which are hard to see and envision in 3D. RoboAnalyzer
    plans to back out the above challenges for understudies and instructors.

    Theory: -
    Inverse Dynamics (IDyn) is a dynamics problem, where the robot geometric, inertial parameters,
    and the joint motions i.e its positions, velocities and acceleration are given, and the
    corresponding joint torques, or forces are calculated. In RoboAnalyzer, the dynamics solver is
    based on ReDySim algorithm, which uses Decoupled Natural Orthogonal Complement
    (DeNOC) Matrices based recursive formulation.

    FIG1: 2R DOF manipulator


    Note: constants are system parameters.
    b Theta (Variable) a Alpha
    (Constant) (Constant) (Constant)
    0 Theta1 a1 0
    0 Theta2 a2 0

    FIG 2: D-H parameter 2R DOF manipulator

    First we will write down the DH matrix for 2 DOF Manipulator:

    𝑐𝑜𝑠θ1 −𝑠𝑖𝑛θ1cosα1 𝑠𝑖𝑛θ1𝑠𝑖𝑛α1 𝑎𝑐𝑜𝑠θ1


    𝐷𝐻1 = [ 𝑠𝑖𝑛θ1 cosθ1cosα1 −cosθ1sinα1 𝑎𝑠𝑖𝑛θ1 ]
    0 𝑠𝑖𝑛α1 cosα1 𝑏
    𝑐𝑜𝑠θ2 −𝑠𝑖𝑛θ2cosα2 𝑠𝑖𝑛θ2𝑠𝑖𝑛α2 𝑎𝑐𝑜𝑠θ2
    𝐷𝐻2 = [ 𝑠𝑖𝑛θ2 cosθ2cosα2 −cosθ2sinα2 𝑎𝑠𝑖𝑛θ2 ]
    0 𝑠𝑖𝑛α2 cosα2 𝑏

    DH = DH1 x DH2

    X = a1 cos (Theta1) + a2 cos (Theta1+ Theta2)


    Y = a1 sin (Theta1) + a2 sin (Theta1+ Theta2)

    Velocity:
    Differentiate these equation w.r.t time (t)
    X = a1 cos (Theta1) + a2 cos (Theta1+ Theta2)
    Y = a1 sin (Theta1) + a2 sin (Theta1+ Theta2)

    Acceleration:
    Double differentiate these equation w.r.t time (t)
    X = a1 cos (Theta1) + a2 cos (Theta1+ Theta2)
    Y = a1 sin (Theta1) + a2 sin (Theta1+ Theta2)
    Results: -
    Link 1:

    FIG 3: Link1 position graph

    Link 2:

    FIG 4: Link2 position graph


    Joint 1:

    FIG 5: Joint 1 Value, Velocity and Acceleration graph

    Joint 2:

    FIG 6: Joint 2 Value, Velocity and Acceleration graph


    Discussions:
    The conditions that we get from DH network characterizes the setup of the robot as far as its
    joint parameters. Forward kinematics utilizes the joint parameters to figure the setup of the chain,
    and converse kinematics turns around this count to decide the joint parameters that accomplish
    an ideal design

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