ROBOTICS LABSHEET- 1

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NAME: HIMAYA K.P. ROLL NO. : AM.EN.U4AIE22022
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Question 1 :
Using Matlab, load commercially available robot models like the Universal
Robots™ UR10 cobot, Boston Dynamics™ Atlas humanoid, and KINOVA™ Gen 3
manipulator. Explore how to generate joint configurations and interact with
the robot models.

Atlas:

Code:

atlas = loadrobot("atlas");
show(atlas)
%generating joint configurations
for i = 1:9
subplot(3,3,i)
config = randomConfiguration(atlas);
show (atlas,config);
end
%Interacting with robot model
interactiveGUI = interactiveRigidBodyTree(atlas);
% Saving the joint configuration
interactiveGUIConfiguration = randomConfiguration(atlas);
addConfiguration(interactiveGUI);
disp(interactiveGUI.Storedconfiguration);

output:
b. UR10:
code:
ur10 = loadrobot("universalUR10");
show(ur10)
%generating joint configurations
for i = 1:9
subplot(3,3,i)
config = randomConfiguration(ur10);
show (ur10,config);
end
%Interacting with robot model
interactiveGUI = interactiveRigidBodyTree(ur10);
% Saving the joint configuration
interactiveGUIConfiguration = randomConfiguration(ur10);
addConfiguration(interactiveGUI);
disp(interactiveGUI.Storedconfiguration);

Output:
c. gen3
code:
gen3 = loadrobot("kinovaGen3","DataFormat","column");
disp(gen3)
show(gen3)
%generating joint configurations
for i = 1:9
subplot(3,3,i)
config = randomConfiguration(gen3);
show (gen3,config);
end
%Interacting with robot model
interactiveGUI = interactiveRigidBodyTree(gen3);
% Saving the joint configuration
interactiveGUIConfiguration = randomConfiguration(gen3);
addConfiguration(interactiveGUI);
disp(interactiveGUI.Storedconfiguration);

Output:
Question 2:
Explain with a tripleangle application in the Toolbox. Explain
roll,pitch, and yaw motions about the nominal attitude and
at singularities.
Answer:

In command window:

By default:
Parallel:
The angle of three sides may vary each time when you set it to
parallel
The plane is in parallel axis when Rx = 90.0 angle, Ry=-90.0 angle and
Rz = -18.0 angle

About Gimbel Lock:

Gimbal lock is a phenomenon that occurs in systems that use Euler
angles to represent orientation, such as in robotics. It arises when
two of the rotational axes become aligned, resulting in a loss of one
degree of freedom and making certain orientations impossible to
represent. Here's a more detailed explanation of gimbal lock in the
context of robotics:

1. Representation of Orientation: In robotics, orientation refers to the

spatial positioning of a robot's body or end-effector relative to a
reference frame. Euler angles are commonly used to represent
orientation. These angles describe rotations around three
perpendicular axes: roll (rotation around the X-axis), pitch (rotation
around the Y-axis), and yaw (rotation around the Z-axis).

2. Gimbal System: Imagine a physical gimbal system consisting of

three nested rings, each representing one of the rotational axes.
These rings are free to rotate independently of each other.

3. Alignment of Axes: Gimbal lock occurs when two of the rotational

axes become aligned, either directly or indirectly. This alignment
causes the system to lose one degree of freedom. For example, if the
pitch and yaw axes become aligned, the system loses the ability to
rotate independently around one of these axes.

4. Consequences: When gimbal lock occurs, the system cannot

accurately represent certain orientations. This limitation can lead to
inaccuracies in robot control, particularly in tasks requiring precise
positioning or orientation control.

5. Mitigation Strategies: To mitigate the effects of gimbal lock in

robotics, alternative orientation representations such as quaternions
or rotation matrices can be used. These representations offer
advantages over Euler angles, including avoidance of gimbal lock and
numerical stability.

In summary, gimbal lock is a significant consideration in robotics,

particularly in systems that use Euler angles to represent orientation.
By understanding gimbal lock and employing appropriate mitigation
strategies, engineers can develop more robust and reliable robotic
systems.

Application of Gimmbel lock:

Application Areas: Gimbal lock affects various aspects of robotics,
including robotic manipulator control, motion planning, simulation,
and sensor fusion. Understanding gimbal lock is crucial for designing
reliable and accurate robotic systems capable of performing complex
tasks effectively.
Solutions for Gimber Lock:
This problem may be overcome by use of a fourth gimbal, actively
driven by a motor so as to maintain a large angle between roll and
yaw gimbal axes. Another solution is to rotate one or more of the
gimbals to an arbitrary position when gimbal lock is detected and
thus reset the device.
Modern practice is to avoid the use of gimbals entirely. In the context
of inertial navigation systems, that can be done by mounting the
inertial sensors directly to the body of the vehicle and integrating
sensed rotation and acceleration digitally using quaternion methods
to derive vehicle orientation and velocity. Another way to replace
gimbals is to use fluid bearings or a flotation chamber.

Crash of Apollo 11:

The Apollo 11 mission, which culminated in the historic moon landing
on July 20, 1969, is generally celebrated as a triumph of human
ingenuity and exploration. However, it's important to note that the
mission did encounter challenges and potential hazards, though not
necessarily a "crash" in the traditional sense. Here are some key
points regarding incidents that occurred during the Apollo 11
mission:

1. Lunar Module (LM) Descent: The Lunar Module, named Eagle,

faced several issues during its descent to the lunar surface. The LM's
guidance computer, overloaded with data from rendezvous radar,
triggered a series of "1202" and "1201" alarms. These alarms
indicated that the computer was overloaded, prompting Mission
Control to instruct the crew to continue the descent. Despite the
alarms, the LM's systems continued to function adequately, and the
crew successfully landed on the moon.

2. Lunar Ascent: After spending approximately 21 hours on the lunar

surface, astronauts Neil Armstrong and Buzz Aldrin returned to the
Lunar Module for ascent back to the Command Module, piloted by
Michael Collins. The ascent stage of the LM had to fire its engine
precisely at the correct time and trajectory to rendezvous with the
Command Module in lunar orbit. Any error in timing or trajectory
could have resulted in a failure to rendezvous or a failed return to
Earth.

3. Potential Hazards: While there were no major crashes during the

Apollo 11 mission, there were potential hazards and risks associated
with space travel, including the possibility of equipment failure,
navigation errors, or other unforeseen complications. The crew and
mission control teams were prepared to respond to any emergencies
that might have arisen during the mission.

4. Mission Success: Despite these challenges, the Apollo 11 mission

achieved its primary objective of landing humans on the moon and
returning them safely to Earth. Neil Armstrong's famous words,
"That's one small step for [a] man, one giant leap for mankind,"
marked a historic moment in human exploration and spaceflight.

In summary, while the Apollo 11 mission faced technical challenges

and potential hazards, it ultimately succeeded in accomplishing its
primary goal of landing astronauts on the moon and returning them
safely to Earth.
Solution:
1. Avoid Gimbal Lock: Use a fourth gimbal in the spacecraft's
navigation system or rotate existing gimbals when gimbal lock is
detected. This maintains a safe angle between gimbal axes,
preventing loss of control.

2. Modernize Systems: Update spacecraft navigation systems to avoid

reliance on gimbals altogether. This can be done by using strapdown
systems or alternative methods, ensuring stability and reliability
during missions.

By implementing these solutions, we can prevent crashes like the

Apollo 11 incident and ensure the safety and success of future space
missions.