Formato de Evaluación

F-71-I Rev. C
Programa Académico de Ingeniería Mecatrónica
Subject: Robot Kinematics

Group: MTR08A Date: 18/07/22

Evaluation Diagnostic Unit: 5 Grade

type
(Check with an Formative X
“X”)
Summative Time (minutes): N/A

Recovery

Teacher’s name: Eng. Jesús Rafael Tavarez Delgado

Student’s name: Hannia Ivette Navarro Robledo ID: UP190876

Read carefully the specifications in each section. Verify the checklist in order to know all the
evaluation aspects. Solve individually the instructions stated in the next points.
Upload the file in PDF with the next nomenclature U5EF1_MTR08#_LastName_Name. Where “#”
is the group.

I. In a document, explain and describe the steps to develop the next points related to industrial
robots programming:

a. How to create a program and environment in the simulation software (include figures to
support the explanation).

With the application MATLAB you can made a program to simulate a robot model. There are
many ways to do it.

1. First, download a TOOLBOX that can help us to make the model with a better
visualization.
https://la.mathworks.com/matlabcentral/fileexchange/80137-simple-robotics-toolbox?
s_tid=mwa_osa_a

2. This TOOLBOX has many functions to simplify the program, using the DENAVIT-
HATENBERG matrix and rotation matrices.

3. Finally, an example of a program with the respective steps to make it.

Robot1
clc
clear

q = [2 0*pi/180 0*pi/180 0*pi/180 0*pi/180];

a1 = 2;
a2 = 2;
a3 = 4;

figure(1)
clf
hold on

%Origin axis
H0 = eye(4);

% theta, d a alpha
A01 = DH(0, q(1), 0, 0);
A12 = DH(q(2), 0, a1, 0);
A23 = DH(q(3), 0, a2, 0);
A34 = DH(0, 0, a3, pi/2);
A45 = DH(pi/2, 0, 0, 0);
A56 = DH(q(4), 0, 0, pi/2);

%End-effector
T1 = A01*A12;
T2 = T1*A23;
T3 = T2*A34;
T4 = T3*A45;
T5 = T4*A56;

%[origen]= Sistema3D(M,t,lx,ly,lz,tf)
%M is the transformation matrix associated with the system
%t is the size of the axes to draw
%lx is the label on the x-axis (latex)
%ly is the label on the x-axis (latex)
%lz is the label on the x-axis (latex)
%tf is the font size
[origen0] = Sistema3D(H0,1,'x_0','y_0','z_0',16);
[origen1] = Sistema3D(A01,1,'x_1','y_1','z_1',16);
[origen2] = Sistema3D(T1,1,'x_2','y_2','z_2',16);
[origen3] = Sistema3D(T2,1,'x_3','y_3','z_3',16);
[origen6] = Sistema3D(T5,1,'x_6','y_6','z_6',16);

% eslabon(po,pf,c,lw)
% function to draw a line in the inicial point po at final point pf, the
% color c, the width lw.
eslabon(origen0,origen1,'r',2)
eslabon(origen1,origen2,'b',2)
b. How to create a program in an industrial robot physically.

1. First, you need to open the simulation software.

2. Open a new cell.

3. Select all next.

4. Select this primary robot model and again select next and finish.

5. Select the first option with the keyboard and press enter.
 6. Finally, the software it gave you this view and you can start to program it.

7. If you want to star to move your robot and make a draw of something basic. First,
you need to open an interface called “Teach pendant”.

8. To make a new workspace: click on “select” and then in create with “F2”

9. Insert your name and click enter.

10. Finally, you are already to start to program in ROBOGUIDE software.

c. Create and explain a program in which you follow different points programmed in the robot
 workspace.

In the following image shows the outline of a square within the ROBOGUIDE software. The axes that join
each line of the square were inserted, moving the robot respectively, a type of linear line was used so that
the lines were straight and moved correctly when simulating it.

The following image shows the outline of a circle within the ROBOGUIDE software. 4 axes were inserted, of
which two of them would be indicated as circular and with their respective pairs in which the curve would
be shown, and finally completing each axis, it was possible to obtain the trace of the circle.
 Checklist LC1. Unit 5 Formative evaluation 1 (U5EF1)

INSTRUCTIONS: Review the activities requested and mark in the sections "YES" when the evidence is fulfilled; otherwise mark "NO". In the
"Observations" column, specify the indications that may help the student to know which conditions are not fulfilled, if necessary.

Value of Characteristic to be fulfilled (Request) Achieved Observations

the score
request

Will not be The file is not uploaded in PDF. The file is delivered after Monday July 18 th at 23:59.
accepted

40% The steps to create a program in software are correct and complete.

40% The steps to create a program in an industrial robot physically are correct and complete.

20% The steps to develop an example program are correct and complete.

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