Assignment # 2 and 3

ME-465 Robotics and Automation

1. Brief. We have studied about the DH parameter and forward kinematics (position and
orientation) for manipulators in our course of Robotics and Automation. The planar 3 DoF, 3R
manipulator is shown in figures 1 and 2 below:-

Figure 1 Figure 2
2. The link length parameters are given as under:-
L1 = 4 m, L2 = 3 m & L3 = 2 m
3. These assignments are part of Robotics module of the course.
4. Requirement. You are required to fulfill two challenges as under:-
a. Derive (Calculate):-
(1) DH Parameters
𝑖−1
(2) Neighboring homogeneous transformation matrices 𝑖𝑇, 𝑖 = 1,2,3. These are
functions of joint variable 𝜃𝑖 , 𝑖 = 1,2,3.
0
(3) The constant 𝐻𝑇 by inspection. The origin of {𝐻} is in the center of gripper
fingers, and the orientation of {𝐻} is always same as the orientation of {3}.
b. Use Matlab to derive:-
(1) The forward kinematics solution of 03𝑇 and 𝐻0𝑇 as function of 𝜃𝑖 .
(2) Calculate forward kinematics pose, using following input cases for angles:-
(a) {𝜃1 , 𝜃2 , 𝜃3 }𝑇 = {0,0,0}𝑇
(b) {𝜃1 , 𝜃2 , 𝜃3 }𝑇 = {10𝑜 , 20𝑜 , 30𝑜 }𝑇
(c) {𝜃1 , 𝜃2 , 𝜃3 }𝑇 = {90𝑜 , 90𝑜 , 90𝑜 }𝑇
5. Submission. You are required to submit 2 x files as under:-
a. pdf file to include the pictures of the calculation done for para 4a above.
b. *.m file for para 4b. Your code should be able to take the joint variables as in put give
you the output.
c. Make a folder with name as under and put both file 5a and 5b in it:-
“Full_name_Asgn2&3_R&A”
6. The assignment will be submitted on LMS in two-week time and is due on 05 Jun 21 by
midnight.
7. Best of Luck and Happy coding………