Professional Documents
Culture Documents
EL424
LABORATORY MANUAL
Spring 2018
LAB 08
Farward Kinametics
Engr. Iqra Akram
______________________________________
LAB ENGINEER SIGNATURE & DATE
1. Learning Objectives:
a. Understanding of transformation matrix.
b. Understanding of Forward Kinametics.
2. Equipment Required:
MATLAB
PC
3. Introduction
MATLAB commands
T = FKinBody(M,Blist,thetalist)
Computes the end-effector frame given the zero position of the end-effector M, the list of joint
screws Blist expressed in the end-effector frame, and the list of joint values thetalist.
T = FKinSpace(M,Slist,thetalist)
Computes the end-effector frame given the zero position of the end-effector M, the list of joint
screws Slist expressed in the fixed-space frame, and the list of joint values thetalist.
Task 1:
Express all vectors and homogeneous transformations in terms of the fixed frame.
For L1=L2=1
ϴ1=ϴ2=ϴ3=π/2
Task 2:
Express all vectors and homogeneous transformations in terms of the fixed frame.
For L=1
ϴ1=ϴ2=ϴ3=π/2
And
ϴ4=ϴ5=ϴ6=π
Task 3:
Express all vectors and homogeneous transformations in terms of end effector/body.
For L1=L2=1
ϴ1=ϴ2=ϴ3=3π/2
Task 4:
Express all vectors and homogeneous transformations in terms of end effector/body.
ϴ1=ϴ2=ϴ3=3π/2
In above robot At the zero configuration, axes 1, 3, 5, and 7 are along zs and axes 2, 4, and 6
are aligned with ys out of the page. Positive rotations are given by the right-hand rule. Axes
1, 2, and 3 intersect at the origin of {s} and axes 5, 6, and 7 intersect at a point 60mm from
{b}
Student's feedback:[Separate this page; fill it; drop in the Drop Box.]
Providing feedback for every lab session is optional. No feedback means you are satisified
The Lab Committee will consider only duly filled forms submitted within one week after the
lab
This feedabck is for LAB session: LAB Number: _____, Date: _____________________
General (to provide feedback on a persistent practice/ocurrence in LABs).
Your current CGPA is in the range 4.00 to 3.00/2.99 to 2.00/1.99 to 1.00/0.99 to 0.00