THIAGARAJAR COLLEGE OF ENGINEERING, MADURAI – 625015

DEPARTMENT OF MECHANICAL ENGINEERING

14MEPE0 – ROBOTICS (2019-20 EVEN)

ASSIGNMENT 1 – ROBOT KINEMATICS AND TRAJECTORY PLANNING

Name of the Student: (Reg. No.: ) - VI Sem B.E. (Mechanical Engineering)

1.0 INPUTS: Length of links : 1 m and 0.5 m;
Initial (deg) Final (deg) Time (sec)
Joint 1
5.0
Joint 2

2.0 DISPLACEMENT, VELOCITY AND ACCELEARATION OF JOINTS

Time Joint Position Cartesian Position
(Sec) End-effector w.r.t
Joint 1 Joint 2 Link 1 (m) Link 2 (m)
to origin (m)
𝜽𝟏 𝜽𝟏̇ 𝜽𝟏̈ 𝜽𝟐 𝜽𝟐̇ 𝜽𝟐̈ 𝒙𝟏 𝒚𝟏 𝒙𝟐 𝒚𝟐 𝒙 𝒚
0

0.5

1.0

1.5

2.0

2.5

3.0

3.5

4.0

4.5

5.0
3.0 PLOTS OF KINEMATIC PARAMETERS

3.1 Displacement Vs. Time (Joint-1 & Joint-2)

3.2 Velocity Vs. Time (Joint-1 & Joint-2)
3.3 Acceleration Vs. Time (Joint-1 & Joint-2)
3.4 Robot Positions (Joint-1, Joint-2 & End-effector)