EEE421 LAB 3 EXERCISE

GROUP MEMBERS

Tawanda R Munyanyi : H180163Z

Tino Mdhra : H180690F

Nyaradzai Mapfumo : H180488Y

QUESTION

1. Using the Simulink (MATLAB) package, model inverse kinematics equations for a

2 D.O.F planar manipulator and simulate. [20]

INTRODUCTION
The inverse kinematics is the process of finding out the joint space angles with the help of

position and orientation of the end-effector. It is a type of serial manipulator which consists

of two links and two actuators in 2D plane as shown below,

The trigonometric method is approached in the problem of inverse kinematics to find

theta(θ1) and as theta(θ2), given the co-ordinates of end effector point, constants R1, R2. The

two joint variables are given directly as follows in equation (i) and (ii),

θ2 =  [ cos^-1( (x^2 + y^2 – R1^2 R2^2) / (2*R1*R2) ) ] ---(i)

θ1 = atan2(x,y) – atan2(k1,k2) ---(ii)

where :

k1 = R1 + R2Cos θ2 ,

k2 = R2Sin θ2

REQUIREMENTS

 Computer
  Simulink (MATLAB) software

INSTRUCTIONS

 Open Simulink In MATLAB.

 Model the inverse kinematics equations.

 Read values of θ1 and θ2 from the display.

RESULTS AND DISCUSSION

The model of the inverse kinematics equations for a 2 D.O.F planar manipulator is shown

below along with the values used to model the inverse kinematics equations.
CONCLUSION

The simulation analysis has been performed and corresponding results are also obtained,

hence the practical was a success.