Robotics Manual

Ex. No.
: 1
Date:
DENAVIT- HARTENBERG PARAMETERS VISUALIZATION
AIM
To represent the position and orientation of a of a robot-link with respect to its
previous link using robot with 3 DOF (PRP Configuration).
Components and software required
Robo analyser 7.0
Computer systems
THEORY
Introduction
The architecture of industrial robots is usually represented by DenavitHartenberg (DH) parameters. It forms the basis for performing kinematic and
dynamic analyses of robots. A set of four DH parameters is used to represent the
position and orientation of a robot-link with respect to its previous link.
Visualize DH
After selecting a robot and redefining DH parameters, as users can
visualize each DH parameter by selecting a joint and then selecting a DH
parameter type . Once it is done, the corresponding DH parameter is
highlighted in the DH parameter input table and a transformation
frame moves in the 3D robot model. It shows the two co-ordinate frames
corresponding to the selected DH parameter.
Users can click on Together button and a coordinate frame moves
covering all the four DH parameters corresponding to the selected joint.
Users can click on Base Frame to EndEffector button to see a
coordinate frame moving from base frame to endeffector frame covering all the DH parameters of the robot model.
LINK CONFIGURATION
The configuration/ transformation of a co-ordinate frame (DH frame)
attached on each robot-link can be determined with respect to a frame
attached to its previous link or base frame by following the steps
below and as shown in Figure 8.
Select a joint. If Joint1 is selected, it corresponds to co-ordinate frame attached
on Link1.
Select Previous Link Frame or Base Frame as the reference frame with respect
to which the transformation needs to be determined.
Click on Update button and 4X4 transformation matrix is populated. A pair of
co-ordinate frames is shown in 3D robot model to help user in visualizing the
transformation.
END- EFFECTOR CONFIGURATION
The end-effector configuration/transformation can be determined with

respect to the base frame directly by using the Update button . The 4X4
transformation matrix is populated and a pair of coordinate frames is shown in
3D robot model to help user in visualizing the transformation.
Output
DH Parameter Value
Link to Link configurations
End-Effector configurations
Result
FORWARD KINEMATICS
AIM
To determine the trajectory of end-effector to base, link to link and draw the
graph respectively by applying forward kinematics method.
Robo analyser 7.0
Computer systems
THEORY
Introduction
In the forward or direct kinematics, the joint positions, i.e. the angles of the
revolute joints and the displacements of the prismatic joints, are prescribed. The
task is to find the end-effectors configuration/transformation consisting of its
position and orientation. After selecting a robot and redefining DH parameters
forward kinematics (FKin) is performed which updates the 3D model.
SIMULATION OF FKIN
To perform animation of the robot motion between two sets of initial
and final values of joint variables, the following are the steps to be
performed.
The
trajectory
of
joint
values,
joint
velocities
and
joint accelerations follow Cycloidal trajectory . The trajectory can be changed .
1.
2.
3.
4.
5.
Set the initial and final values of joint variables

Set Time Duration and Number of Steps
Click on FKin button
Click on Play button to see the animation
The end-effector trace can be viewed
GRAPH PLOTS OF FKIN

To view the graph plots of a forward kinematics (animation) analysis,
the following are the steps to be performed.
1. Click on Graph tab
2. Click on + next to the link of which the plots are to be viewed
3. Click on box to plot graph of a particular node to see X, Y and Z plots
4. Click on + next to the joint of which the plots are to be viewed
5.Click on box to plot graph of a particular node to see joint value (joint angle fo
r revolute joint and joint offset for prismatic joints), joint velocity and joint accel
eration
Graph Plots of Position of Coordinate Frame attached to Link3
Graph Plots of Input Trajectory to Joint3 (Cycloidal Trajectory)
INVERSE KINEMATICS
AIM
To determine the joint variables corresponding to a given end-effectors
orientation and position using reverse kinematics method.
Robo analyser 7.0
Computer systems
THEORY
Introduction
Inverse Kinematics (IKin) consists of determination of the joint variables
corresponding to a given end-effectors orientation and position. The solution
to this problem is of fundamental importance in order to transform
the motion specifications assigned to the end-effector in the operational
space into the corresponding joint space motions. There may be multiple or
no results possible for a given end-effector position and orientation.
SOLUTIONS OF IKIN
To select a robot and view the solutions of its Inverse Kinematics, the
following are the steps to be performed.
1. Click on IKin button. It shows a separate window
2. Select a Robot
3. Enter Input parameters
4. Click on IKin button
5. View the possible solutions
6.Click on Show button. It shows the selected solution in 3DModel window. To se
e this go back to main window by minimizing IKin window
7. Select any of the obtained solution as initial and final solution
8.
Click on OK. This step replaces the initial and final joint values in DH Parameter t
able
(Main window) by values selected in step 7
9.Click on FKinbutton to view animation i.e. how robot moves from one solution
to another solution selected in step 7
Inverse Kinematics of 3R Articulated Robot
Ex. No.: 4
Date:
INVERSE AND FORWARD DYNAMICS
AIM
To simulate and analyse the forward and inverse dynamics for the given DOF
robot.
Robo analyser 7.0
Computer systems
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 corre
sponding joint torques or forces are calculated.
Inverse dynamics
Select a robot and redefine DH parameters to solve for IDyn of the
robot between two sets of initial and final values of joint variables, the
following are the steps
1. Set the initial and final values of joint variables

2. Set Time Duration and Number of Steps
3. Set Gravity (all values should be in SI units, i.e. m/s^2)
4. Select a robot link to enter its Center of Gravity (CG) location. It
corresponds to a vector from the CG of the robot-link to the origin of
the co-ordinate frame attached to that link, measured in the reference
of the co-ordinate frame attached to that link.
5. Select Mass Properties of a robot-link. Set Mass of each robot-link
(values should be in SI units, i.e.kg) and set Inertia tensor of each robotlink with respect to the co-ordinate frame attached at the CG of the robotlink and the co-ordinate frame is parallel to the one attached to the
robot-link (values should be in SI units, i.e. kgm^2). These values are
to be entered manually and not calculated automatically from the shape
of the robot-links.
6. Click on FKin button (required to populate the input joint trajectory)
7. Click on Play button to see the animation (only for visualization purpose,
not necessary for IDyn)
8. Click on IDyn button to perform Inverse Dynamics
9. click on Graph tab to view the graph
Forward dynamics
Forward Dynamics (FDyn) is a dynamics problem, where the robot geo
metric, inertial parameters, and the joint torques and forces are given
and the joint accelerations are calculated.
1. Set the initial value of joint variables
2. Set Time Duration and Number of Steps
3. Set Gravity (all values should be in SI units, i.e. m/s^2)
4. Select a robotlink to enter its Center of Gravity (CG) location. It corresponds to a vector from
the CG of the robot-link to the origin of the co-ordinate frame attached to that link,
measured in the reference of the co-ordinate frame attached to that link.
5. Select Mass Properties of a robot-link. Set Mass of each robot-link (values should be in
SI units, i.e. kg) and set Inertia tensor of each robot-link with respect to the co-ordinate frame
attached at the CG of the robot-link and the co-ordinate frame is parallel to the one
attached to the robot- link (values should be in SI units, i.e. kgm^2). These values are to
be entered manually and not calculated automatically from the shape of the robot-links.
6. Click on FDyn button to perform Forward Dynamics. The robot is
simulated for free-fall due
to the action of gravity. In future, joint torques/forces can be set as input.
7. Click on Play button to see the animation
8. Click on Graph tab to view the graph

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Ex. No.

The end-effector configuration/transformation can be determined with

Link to Link configurations

Set the initial and final values of joint variables

GRAPH PLOTS OF FKIN

Graph Plots of Position of Coordinate Frame attached to Link3

Graph Plots of Input Trajectory to Joint3 (Cycloidal Trajectory)

INVERSE AND FORWARD DYNAMICS

1. Set the initial and final values of joint variables

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