Date:

EXPERIMENT NO:1
Objective: To study about DH parameter and Forward and Inverse kinematics of Robot using
RoboAnalyzer.

Theory:

RoboAnalyzer is a 3D model based robotics learning software developed since 2009 using the
concepts of Object Oriented Programming in Visual C# programming language. For the visualization
of a robot and its motion in 3D environment, OpenGL, an open-source library, has been used through
Tao Framework. A typical screenshot of the RA application is shown in Figure 1.

FIGURE 1 Graphical User Interface (GUI) of RoboAnalyzer (RA)

DENAVIT AND HARTENBERG (DH) PARAMETERS:

The robot architecture is described in terms of the Denavit-Hartenberg [1] parameters. A robot usually
consists of a number of links connected by joints generally having one degree-of-freedom (DOF). The
configuration of the end-effector (i.e., the coordinate frame attached to the end-effector) with respect
to the World coordinate.

The Denavit Hartenberg parameters(also called DH parameters) are the four parameters associated
with a particular convention for attaching reference frames to the links of a spatial kinematic chain, or
robot manipulator.

1) Joint offset(b): length of intersections of common normal on joint axis

2) Joint angle (θ): angle between the orthogonal projections of te common normal to the plane normal
to the joint axes.
3) Link length (a): measured as the distance between the common normals to the axis.

4) Twist angle (α): the angle between the orthogonal projections of the joint axes onto a plane normal
to the common normal.

so for the given type of joint i.e. revolute or prismatic one of the DH parameters is variable which is
called the joint variable, whereas the other three remaining parameters are constant and are called link
parameters.

A 3D animation environment can help demonstrate the coordinate transformations associated with the
four DH parameters, that is, joint offset (b), joint angle (θ), link length (a), and twist angle (α) of two
neighboring links coupled by a one-degree-of-freedom (DOF) joint, and how they correspond to the
physical architecture of the robot.

Effect of DH parameters on robot architecture

Once the mathematical description of DH parameters has been associated with their underlying
coordinate transformations, the next step is to understand its effect on the physical configuration of
the robot, that is, how a change in DH parameters can affect the architecture of the robot and vice
versa. An actual robot model cannot be used for this purpose, as its DH parameters were decided by
its manufacturer. The proposed software offers an alternate representation of an existing industrial
robot, say,KUKAKR5 Arc, using the skeleton models whose kinematic and dynamic analyses results
are same, provided the DH and other parameters are entered correctly. It is just the visualization of the
link shapes which differ. Otherwise kinematically and dynamically, they are same. One can then vary
the link parameters by changing the DH parameters to see the effects on kinematic and dynamic
performances. This provides learners a way to explore variations in the given architecture of an
industrial robot. It will also help in conceptualizing a new design. Basically, a user can experiment
with a multitude of robots, circumventing the hassles of coding, or creating different models in a 3D
environment. This capability is illustrated in Figure 2A in which an RRR robot is shown whose
motion is restricted to a plane. The corresponding DH parameters are also shown. By varying the DH
parameters b and under α, as shown in Figure 2B, a different configuration of the RRR robot can be
obtained whose motion is spatial. Similar customization is possible for robots with different DOFs.

FIGURE 2 Customizable serial robots in RoboAnalyzer

Homogenous transformation matrices

The numeric values of the 4 × 4 Homogeneous Transformation Matrices (HTMs) are required for
kinematic and dynamic analyses, as they describe the position and orientation of the robot links. But it
is tedious and time-consuming to calculate the HTMs for a pair of DH frames fixed to any two links at
every time instant of the robot’s movement. The target audience of beginner-level students would find
it difficult to do the same for learning and doing assignments. In RoboAnalyzer, the HTMs for
different links are available to the user in the GUI. This would allow them to validate their results,
especially in a classroom and during practical sessions. The HTM for a particular configuration of an
RR robot is shown in Figure 3, where F1 and F3 are the frames

attached to the base link (Link 0) and the last link (Link 2), respectively.

FIGURE 3 Visualization of an HTM between two DH frames

Kinematics:

Kinematics is the study of properties of motion like position, velocity and acceleration not taking into
consideration the forces involved in it. Kinematics modeling is a prerequisite for the dynamics model
and fundamental for practical aspects like motion planning, Singularity and workspace analysis, and
manufacturing cell graphical simulation.

Forward Kinematics:
Forward kinematics is the study of taking joint angles and specified link lengths (DH parameters)
and calculating the position of the end effector with respect to base frame. It involves a series of
matrix transformations to find the position of end effector relative to each robotic joint.
The homogeneous transformation matrix of the end effector frame with respect to frame obtained by
postmultiplication of the individual homogeneous transformation Ti,

for i=1…..n.
Q= Q1Q2……Qn
P=a1+Q1a2+…….+Qn-1an
Q=orientation of the end effector with respect to the fixed frame
P=position of the origin of the frame attached to the end effector.

Inverse Kinematics:
The reverse process that computes the joint parameters that achieve a specified position of the end-
effector is known as inverse kinematics.Inverse kinematics refers to the use of the kinematics
equations of a robot to determine the joint parameters that provide a desired position of the end-
effector. Specification of the movement of a robot so that its end-effector achieves a desired task is
known as motion planning. Inverse kinematics transforms the motion plan into joint actuator
trajectories for the robot.

Figure1: Relation between joint variables and end-effector position

CONCLUSION:
 Date:

EXPERIMENT NO: 2
Objective: To Perform the Forward Kinematics of 2- R Planer Robot.

Problem Description:

1) 2-R planar manipulator

 Perform the forward kinematics of the 2-DOF planar robot of given DH parameters using
RoboAnalyzer.
 Visualize the motion and plot the values of the end-effector coordinates.
 Calculate the end-effector position for a given set of joint values, using transformation matrices
and verify with RoboAnalyzer.

DH parameters :

i bi Өi di αi
Homogenous transformation matrices :

1) HTM for Link1 from base

2) HTM for Link2 from base

3) HTM for Link2 from Link1

Calculate the end-effector position for a given set of joint values :

 Date:

EXPERIMENT NO: 3
Objective: To Perform the Forward Kinematics of 3- R Planer Robot.

Problem Description:

1) 3-R planar manipulator

 Perform the forward kinematics of the 3-DOF planar robot of given DH parameters using
RoboAnalyzer.
 Visualize the motion and plot the values of the end-effector coordinates.
 Calculate the end-effector position for a given set of joint values, using transformation matrices
and verify with RoboAnalyzer.

––
DH parameters :

i bi Өi di αi

Homogenous transformation matrices :

1) HTM for Link1 from base

2) HTM for Link2 from base

3) HTM for Link2 from Link1

 4) HTM for Link3 from Link2

5) HTM for Link3 from base

Calculate the end-effector position for a given set of joint values :

 Date:

EXPERIMENT NO: 4
Objective: To Perform the Forward Kinematics of 3- P Planer Robot.

Problem Description:

1) 3-P manipulator
 Perform the forward kinematics of the 3-DOF planar robot of given DH parameters using
RoboAnalyzer.
 Visualize the motion and plot the values of the end-effector coordinates.
 Calculate the end-effector position for a given set of joint values, using transformation matrices
and verify with RoboAnalyzer.

DH parameters :

i bi Өi di αi
Homogenous transformation matrices :

1) HTM for Link1 from base

2) HTM for Link2 from base

3) HTM for Link2 from Link1

4) HTM for Link3 from Link2

5) HTM for Link3 from base

Calculate the end-effector position for a given set of joint values :

Conclusion:
 Date:

EXPERIMENT NO: 5
Objective: To Perform the Forward Kinematics of RRP Robot.

Problem Description:

1) RRP manipulator
 Perform the forward kinematics of the 3-DOF planar robot of given DH parameters using
RoboAnalyzer.
 Visualize the motion and plot the values of the end-effector coordinates.
 Calculate the end-effector position for a given set of joint values, using transformation matrices
and verify with RoboAnalyzer.

DH parameters :

i bi Өi di αi
Homogenous transformation matrices :

1) HTM for Link1 from base

2) HTM for Link2 from base

3) HTM for Link2 from Link1

4) HTM for Link3 from Link2

5) HTM for Link3 from base

Calculate the end-effector position for a given set of joint values :
 Date:

EXPERIMENT NO: 6
Objective: To Perform the Inverse Kinematics of 2- R Planer Robot.

Problem Description:

1) 2-R planar manipulator

 Perform the inverse kinematics of a 2-DOF planar robot of given DH parameters using
RoboAnalyzer.
 Derive the analytical expressions for the inverse kinematics problem of the 2-DOF planar
robot using the formulas .
 Visualize the motion and plot the values of the end effector coordinates

DH parameters :

i bi Өi di αi
Inverse kinematics solutions :
 Date:

EXPERIMENT NO: 7
Objective: To Perform the Inverse Kinematics of 3- R Planer Robot.

Problem Description:

1) 3-R planar manipulator

 Perform the inverse kinematics of a 2-DOF planar robot of given DH parameters using
RoboAnalyzer.
 Derive the analytical expressions for the inverse kinematics problem of the 2-DOF planar
robot using the formulas .
 Visualize the motion and plot the values of the end effector coordinates

DH parameters :

i bi Өi di αi
Inverse kinematics solututions:
 Date:

EXPERIMENT NO: 8
Objective: To Perform the Forward Kinematics of 3- P Robot.

Problem Description:

1) 3-P manipulator
 Perform the inverse kinematics of a 2-DOF planar robot of given DH parameters using
RoboAnalyzer.
 Derive the analytical expressions for the inverse kinematics problem of the 2-DOF planar
robot using the formulas .
 Visualize the motion and plot the values of the end effector coordinates

––

DH parameters :

i bi Өi di αi
Inverse kinematics solututions:
 Date:

EXPERIMENT NO: 9
Objective: To Perform the Inverse Kinematics of RRP Robot.

Problem Description:

1) RRP manipulator
 Perform the inverse kinematics of a 3-DOF planar robot of given DH parameters using
RoboAnalyzer.
 Derive the analytical expressions for the inverse kinematics problem of the 3-DOF planar
robot using the formulas .
 Visualize the motion and plot the values of the end effector coordinates

DH parameters :

i bi Өi di αi
Inverse kinematics solututions: