Fundamental of Robotics

Lab Report # 1
Inverse kinematics

Name: Jawad Naseer

Roll number: 08

BS Electrical Engineering
Session 2017-21
Section-A (Electronics)

Pakistan Institute of Engineering and Applied Sciences,

Islamabad, Pakistan
Objectives:
The task of this lab is to compute the inverse kinematics of Rhino XR3 and SCARA.
And also make the animations of Rhino XR3 and SCARA robots.

Inverse Kinematic Solution for RHINO XR3

The SCARA's construction comprises of two arms joined at the base and the crossing
point of arms one and two. Two autonomous motors utilize opposite kinematics and
introduction at joints J1 and J2 to control the SCARA's X-Y movement. The last X-Y
area toward the finish of arm two is a factor of the J1 point, J2 point, length of arm one
and length of arm two.

Fig 1.1 (RHINO XR3)

DH parameters:

MATLAB code:
%constant values
d1=26.04;
d5=16.83;
a2=22.86;
a3=22.86;
a4=0.95;
%input the W matrix
prompt1='Enter 1st element of Tool Configuration Vector W1:';
prompt2='Enter 2nd element of Tool Configuration Vector W2:';
prompt3='Enter 3rd element of Tool Configuration Vector W3:';
prompt4='Enter 4th element of Tool Configuration Vector W4:';
prompt5='Enter 5th element of Tool Configuration Vector W5:';
prompt6='Enter 5th element of Tool Configuration Vector W6:';
w1=input(prompt1);
w2=input(prompt2);
w3=input(prompt3);
w4=input(prompt4);
w5=input(prompt5);
w6=input(prompt6);
%computation
q1=atan2(w2,w1);
q234=atan2((-((cos(q1)).*w4)+sin(q1).*w5),-w6);
b1=cos(q1).*w1+sin(q1).*w2-a4.*cos(q234)+d5.*sin(q234);
b2=d1-a4.*sin(q234)-d5.*cos(q234)-w3;
b=sqrt(b1.^2+b2.^2);
q3=acos((b.^2-a2.^2-a3.^2)/(2.*a2.*a3));
q2=atan2((a2+a3.*cos(q3)).*b2-a3.*sin(q3).*b1,
((a2+a3.*cos(q3)).*b1+a3.*sin(q3).*b2));
q4=q234-q2-q3;
q5=pi.*log(sqrt(w4.^2+w5.^2+w6.^2));
%display results
x1= 'q1 is: ';
disp(x1);
disp(q1);
x2= 'q2 is: ';
disp(x2);
disp(q2);
x3= 'q3 is: ';
disp(x3);
disp(q3);
x4= 'q4 is: ';
disp(x4);
disp(q4);
x5= 'q5 is: ';
disp(x5);
disp(q5);

Output:

Fig 1.2 Output for home position

Animation of RHINO XR3:

MATLAB code:
L(1) = Link([0 26.04 0 -pi/2]);
L(2) = Link([-pi/2 0 22.86 0]);
L(3) = Link([pi/2 0 22.86 0]);
L(4) = Link([0 0 0.95 -pi/2]);
L(5) = Link([-pi/2 16.83 0 0]);
RhinoXR3 = SerialLink(L);
RhinoXR3.teach;
Output:

Fig 1.3 (animation of RHINO XR3)

 Inverse Kinematic Solution for SCARA

The SCARA acronym stands for Selective Compliance Assembly Robot Arm or Selective

Compliance Articulated Robot Arm.In 1981, Sankyo Seiki, Pentel and NEC presented a completely
new concept for assembly robots. The robot was developed under the guidance of Hiroshi Makino, a
professor at the University of Yamanashi. The robot was called Selective Compliance Assembly
Robot Arm, SCARA. Its arm was rigid in the Z-axis and pliable in the XY-axes, which allowed it to
adapt to holes in the XY-axes.
By virtue of the SCARA's parallel-axis joint layout, the arm is slightly compliant in the X-Y direction
but rigid in the 'Z' direction, hence the term: Selective Compliant. This is advantageous for many
types of assembly operations, i.e., inserting a round pin in a round hole without binding.

Fig 1.4 (SCARA)

DH parameters:
MATLAB code:
%function for SCARA reverse kinematics
%declaring constants
d1=877;
d2=0;
%d3 is not specified. d3 is variable ranging from 0 to 195mm.
%tool length
d4=200;
a1=425;
a2=375;
a3=0;
a4=0;
%take inputs
prompt1='Enter the first element of the tool configuration vector "w1": ';
prompt2='Enter the second element of the tool configuration vector "w2": ';
prompt3='Enter the third element of the tool configuration vector "w3": ';
prompt4='Enter the fourth element of the tool configuration vector "w4": ';
prompt5='Enter the fifth element of the tool configuration vector "w5": ';
prompt6='Enter the sixth element of the tool configuration vector "w6": ';
w1=input(prompt1);
w2=input(prompt2);
w3=input(prompt3);
w4=input(prompt4);
w5=input(prompt5);
w6=input(prompt6);
t1=acos((w1*w1+w2*w2-a1*a1-a2*a2)/(2*a1*a2));
c=input('Input "1" for left and "2" for right: ');
if (c == 1)
q2=t1;
else if (c == 2)
q2=-1*t1;
end
end
t2=a2*sin(q2);
t3=a2*cos(q2);
q1=atan2((t2*w1+(a1+t3)*w2), ((a1+t3)*w1-a2*t2*w2));
q3=d1-d4-w3;
q4=pi*log(abs(w6));
Q=[q1; q2; q3; q4];
%show the output
disp(Q);
Output:

Fig 1.5 (ouput)

Animation of SCARA:

MATLAB code:
L(1) = Link([0 877 425 pi]);
L(2) = Link([0 0 375 0]);
L(3) = Link('prismatic', 'theta', 0, 'a', 0, 'alpha', 0, 'qlim', [0 195]);
L(4) = Link([pi/2 200 0 0]);
SCARA = SerialLink(L);
SCARA.teach;

Output:

Fig 1.6 (animation of SCARA)