LAB 5

Forward Kinematics
Objectives:
 This LAB objective is to know how to enter the DH parameters and finding
forward kinematics using Matlab.
Lab Functions:
Link(Th d a alpha):
It is a function used to create a link object holds all information related to a robot
joint and link such as kinematics parameters, rigid-body inertial parameters,
motor and transmission parameters

SerialLink(links):
A concrete class that represents a serial-link arm-type robot. Each link and joint
in the chain is described by a Link-class object using Denavit-Hartenberg
parameters.

Robot.name:
Used to assign a name for the required robot.

Robot.plot(joints-variables-values):
It is a function used to plot the robot links and end-effector position depending
on the values of the joints variables.
Robot.fkine( joints-variables-values):
It is a function used to find the forward kinematics for a robot depending on the
joints variables.

NOTE: In the functions which start with the word Robot, you can use any other
word except Robot depending on the object you created using SerialLink
function.

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 Example:-
Create a serial robot with 2 rotational degrees of freedom, then plot it with angles
of (180,90) abd find the forward kinematics for this position.

Figure 1:Creating, plotting and finding forward kinematics of 2DOF planar robt

Figure 2:Matlab representation of DH parameters

Figure 3:Figure of robot position based on the required joints angles Figure 4:Forward kinematics based on the required joints angles

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