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EL424

LABORATORY MANUAL

Spring 2018

LAB 08

Measuring of twist and some transformation by using

MATLAB

Engr. Iqra Akram

STUDENT NAME ROLL NO SEC

______________________________________

LAB ENGINEER SIGNATURE & DATE

_______________________________________________________________

NATIONAL UNIVERSITY OF COMPUTER AND EMERGING SCIENCES (NUCES), ISLAMABAD

Last Edited by: Engr. Iqra Akram Date: 12 Feb, 2018

Verified by: Dr. Mukhtar Ullah Date: 12 Feb, 2018

LAB: 07 Rigid-Body Motions and Transformation matrix

1. Learning Objectives:

a. Understanding of rigid body motion.

b. Understanding of transformation matrix.

2. Equipment Required:

MATLAB

PC

3. Introduction

MATLAB commands

se3mat = VecTose3(V)

Returns the se(3) matrix corresponding to a 6-vector twist V.

V = se3ToVec(se3mat)

Returns the 6-vector twist corresponding to an se(3) matrix se3mat.

AdT = Adjoint(T)

Computes the 6 × 6 adjoint representation [AdT] of the homogeneous transformation matrix T

Task 1:

ω = (0, 0, ω3),

v = (v1 , v2, 0).

Find Se(3) matrix from above vectors.

Task 2:

Compute the ω , v vectors for the se(3) matrix obtained from task 1.

Task 3:

The robot hand in Figure is holding an apple with a mass of 0.1 kg in a gravitational

field g = 10 m/s2 (rounded to keep the numbers simple) acting downward on the page.

The mass of the hand is 0.5 kg. What is the force and torque measured by the six-axis

force–torque sensor between the hand and the robot arm? We define frames {f} at the

force–torque sensor, {h} at the center of mass of the hand, and {a} at the center of mass

of the apple. According to the coordinate axes in Figure, the gravitational wrench on

the hand in {h} is given by the column vector

Fh = (0, 0, 0, 0, −5 N, 0)

and the gravitational wrench on the apple in {a} is

Fa = (0, 0, 0, 0, 0, 1 N).

a. Given L1 = 10 cm and L2 = 15 cm, find the transformation matrices Thf and

Taf.

b. Find the wrench measured by the six-axis force–torque sensor

Submission Declaration by the Student:

In submitting this lab write-up to the Lab Engineer/Instructor, I hereby declare that:

I have performed all the practical work myself

I have noted down actual measurements in this writeup from my own working

I have written un-plagarised answers to various questions

I have/have not obtained the desired objectives of the lab.

Reasons of not obtaining objectoves (if applicable): _________________________________

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

___________________________

Student’s signature and Date

Student Evaluation by the Lab Engineer:

The Lab Engineer can separate this page from the writeup and keep it for his/her own record. It

must be signed by the student with date on it.

Lab Work: objectives achieved (correctness of measurements, calculations, answers to

questions posed, conclusion) ________/30

Lab Writeup: Neatness, appropriateness, intime submission ________/10

Troubleshooting: Were the student able to troubleshoot his/her work when it was

purposedly changed? ________/10

TOTAL: ________/50

Encircle your choice. -2 means poorest/worst/extremely inadequate/irrevlevant, 0 gives an

average score, and +2 means best/most relevant/most adequate.

Did the student remain focused on his/her work during lab? -2 -1 0 1 2

Rate student's behaviour with fellows/staff/Lab Engineer? -2 -1 0 1 2

Did the student cause any distraction during the Lab? -2 -1 0 1 2

Was the student found in any sort of plagiarism? -2 -1 0 1 2

__________________________________________________________________________

__________________________________________________________________________

__________________________________________________________________________

__________________________________________________________________________

___________________________

Lab Engineer’s signature and Date

Student's feedback:[Separate this page; fill it; drop in the Drop Box.]

Providing feedback for every lab session is optional. No feedback means you are satisified

The Lab Committee will consider only duly filled forms submitted within one week after the

lab

This feedabck is for LAB session: LAB Number: _____, Date: _____________________

General (to provide feedback on a persistent practice/ocurrence in LABs).

Your current CGPA is in the range 4.00 to 3.00/2.99 to 2.00/1.99 to 1.00/0.99 to 0.00

For a Particular

Who conducted the LAB? __________________________________________________

Actual Start time: _______________ Total Duration of Lab: _______________________

Instruction Duration: _________________ Practical Duration: _____________________

LAB writeup available before LAB?Yes/No with the Photocopier/in LAB/in SLATE

Had the theory related to lab been covered in theory class?Yes/No

Encircle your choice. -2 means poorest/worst/extremely inadequate/irrevlevant, 0 gives an

average score, and +2 means best/most relevant/most adequate.

Instruction How much did you understand about the practical? -2 -1 0 +1 +2

Session How much content was irrelevant to the practical? -2 -1 0 +1 +2

Did the instructor allowed Q/A and discussion? -2 -1 0 +1 +2

Practical Did you get sufficient time for practical? -2 -1 0 +1 +2

Presence in lab at all time? -2 -1 0 +1 +2

Ability to convey? -2 -1 0 +1 +2

Lab Readiness to help during practical? -2 -1 0 +1 +2

Engineer Readiness to discuss theoretical aspects? -2 -1 0 +1 +2

Helps in troubleshooting? -2 -1 0 +1 +2

Guides hows & whys of troubleshooting? -2 -1 0 +1 +2

How friendly was the lab staff? -2 -1 0 +1 +2

Staff Presence of staff throughout the lab session? -2 -1 0 +1 +2

Impact of availability of staff on your practical? -2 -1 0 +1 +2

Performance of Electronic Instruments? -2 -1 0 +1 +2

Equipment Performance of Breadboard/experiment kit? -2 -1 0 +1 +2

Performance of circuit components esp. ICs? -2 -1 0 +1 +2

Overall Your overall rating for the whole lab session? -2 -1 0 +1 +2

__________________________________________________________________________

__________________________________________________________________________

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