EXPERIMENT -05

Aim: -
To determine the inverse kinematic solution of 2 DOF robot of robot using Roboanalyser.

Methodology: -
RoboAnalyzer is a 3D model-based software that can be used to teach and learn the Robotics
concepts. It is an evolving product developed in Mechatronics Lab, Department of Mechanical
Engineering at IIT Delhi, New Delhi, India.
Mathematics involved in the study of robotics, e.g., forward and inverse kinematics etc. is initially
difficult to understand by students and same is the case by a teacher to convey the essence of
mathematics of robotics to the students. This is due to fact that, for example, forward and inverse
kinematics involve 3D transformations etc. It is also to be noted that the industrial robots are
represented using DH parameters which are difficult to perceive and visualize in 3D.
RoboAnalyzer aims to ease out the above difficulties for students and teachers.

Theory: -
Inverse Kinematics:
In robotics and computer animation, inverse kinematics is the mathematical process of calculating
the variable joint parameters needed to place the end of a kinematic chain, such as a robot
manipulator or animation character's skeleton, in a given position and orientation relative to the
start of the chain.

FIG1: 2 Prismatic Joint Manipulator FIG 2: 2 Prismatic Joint Manipulator

 FIG 3: 2 Prismatic Joint Manipulator FIG 4: 2 Prismatic Joint Manipulator

b Theta a Alpha
(Constant) (Variable) (Constant) (Constant)
0 Theta1 0.1 0
0 Theta2 0.1 0

FIG 5: D-H parameter of 2 DOF Manipulator

For end effector position of:

X = 0.1 & Y = 0.1 11
First we will write down the DH matrix for 2 DOF Manipulator:

𝑐𝑜𝑠θ1 −𝑠𝑖𝑛θ1cosα1 𝑠𝑖𝑛θ1𝑠𝑖𝑛α1 𝑎𝑐𝑜𝑠θ1

𝐷𝐻1 = [ 𝑠𝑖𝑛θ1 cosθ1cosα1 −cosθ1sinα1 𝑎𝑠𝑖𝑛θ1 ]
0 𝑠𝑖𝑛α1 cosα1 𝑏
𝑐𝑜𝑠θ2 −𝑠𝑖𝑛θ2cosα2 𝑠𝑖𝑛θ2𝑠𝑖𝑛α2 𝑎𝑐𝑜𝑠θ2
𝐷𝐻2 = [ 𝑠𝑖𝑛θ2 cosθ2cosα2 −cosθ2sinα2 𝑎𝑠𝑖𝑛θ2 ]
0 𝑠𝑖𝑛α2 cosα2 𝑏
DH = DH1 x DH2

Equating with the value of X & Y we will get :-

0.1=X = a1 cos (Theta1) + a2 cos (Theta1+ Theta2)
0.1=Y = a1 sin (Theta1) + a2 sin (Theta1+ Theta2)
Results: -

FIG 6: Solution of inverse kinematics of 2 DOF 2P manipulator

FIG 7: Solution of inverse kinematics of 2 DOF 2R manipulator

 FIG 8: Solution of inverse kinematics of 2 DOF PR manipulator

FIG 9: Solution of inverse kinematics of 2 DOF RP manipulator

Discussions:
The equations that we get from DH matrix defines the configuration of the robot in terms of its joint
parameters. Forward kinematics uses the joint parameters to compute the configuration of the chain,
and inverse kinematics reverses this calculation to determine the joint parameters that achieve a
desired configuration.
 EXPERIMENT -06
Aim: -
To determine the inverse kinematic solution of 3 DOF (3R) robot of robot using Roboanalyser.

Methodology: -
RoboAnalyzer is a 3D model-based software that can be used to teach and learn the Robotics
concepts. It is an evolving product developed in Mechatronics Lab, Department of Mechanical
Engineering at IIT Delhi, New Delhi, India.
Mathematics involved in the study of robotics, e.g., forward and inverse kinematics etc. is initially
difficult to understand by students and same is the case by a teacher to convey the essence of
mathematics of robotics to the students. This is due to fact that, for example, forward and inverse
kinematics involve 3D transformations etc. It is also to be noted that the industrial robots are
represented using DH parameters which are difficult to perceive and visualize in 3D.
RoboAnalyzer aims to ease out the above difficulties for students and teachers.

Theory: -
Inverse Kinematics:
In robotics and computer animation, inverse kinematics is the mathematical process of calculating
the variable joint parameters needed to place the end of a kinematic chain, such as a robot
manipulator or animation character's skeleton, in a given position and orientation relative to the
start of the chain.

FIG1: 3R Joint Manipulator

 b Theta a Alpha
(Constant) (Variable) (Constant) (Constant)
0 Theta1 0.1 0
0 Theta2 0.1 0
0 Theta3 0.1 0

FIG:2: D-H parameter of 3 DOF Manipulator

For end effector position of:

X = 0.1 & Y = 0.1 & Theta = 90o

First we will write down the DH matrix for 3 DOF Manipulator:

𝑐𝑜𝑠θ1 −𝑠𝑖𝑛θ1cosα1 𝑠𝑖𝑛θ1𝑠𝑖𝑛α1 𝑎𝑐𝑜𝑠θ1

𝐷𝐻1 = [ 𝑠𝑖𝑛θ1 cosθ1cosα1 −cosθ1sinα1 𝑎𝑠𝑖𝑛θ1]
0 𝑠𝑖𝑛α1 cosα1 𝑏
𝑐𝑜𝑠θ2 −𝑠𝑖𝑛θ2cosα2 𝑠𝑖𝑛θ2𝑠𝑖𝑛α2 𝑎𝑐𝑜𝑠θ2
𝐷𝐻2 = [ 𝑠𝑖𝑛θ2 cosθ2cosα2 −cosθ2sinα2 𝑎𝑠𝑖𝑛θ2]
0 𝑠𝑖𝑛α2 cosα2 𝑏
𝑐𝑜𝑠θ3 −𝑠𝑖𝑛θ3cosα3 𝑠𝑖𝑛θ3𝑠𝑖𝑛α3 𝑎𝑐𝑜𝑠θ3
𝐷𝐻3 = [ 𝑠𝑖𝑛θ3 cosθ3cosα3 −cosθ3sinα3 𝑎𝑠𝑖𝑛θ3]
0 𝑠𝑖𝑛α3 cosα3 𝑏

DH = DH1 x DH2 x DH3

Equating with the value of X & Y we will get :-

0.1 = X = a1 cos (Theta1) + a2 cos (Theta1+ Theta2) + a3 cos (Theta1 + Theta2 + Theta 3)
0.1 = Y = a1 sin (Theta1) + a2 sin (Theta1+ Theta2) + a3 sin (Theta1 + Theta2 + Theta 3)
90 = Theta = Theta1+ Theta 2+ Theta 3
Results: -

FIG 3: Solution table of inverse kinematics of 3 DOF (3R) manipulator

FIG 4: Solution 1 of inverse kinematics of 3 DOF (3R) manipulator

 FIG 5: Solution 2 of inverse kinematics of 3 DOF (3R) manipulator

Discussions:
The equations that we get from DH matrix defines the configuration of the robot in terms of its joint
parameters. Forward kinematics uses the joint parameters to compute the configuration of the chain,
and inverse kinematics reverses this calculation to determine the joint parameters that achieve a
desired configuration.