Table of Contents
CEP problem statement
Contribution of each member of group
Theory involved in the transformation of matrix
Drawing DH table of the given robotic arms
Performing solution on matlab
Assessment Rubrics for complex engineering problem
Contribution page
Contribution of group members:
Muhammad Ahmed (18-MCE-69):
Choose the appropriate solution of the problem .Learn about the theory involve in the solution
of the problem and drive the formulas of transformation for 6 DOF robot.
Asad Ullah Jamali (18-MCE-32):
This member can divide the diagram of 6 DOF robot into three components and transform each
component and describe the relation of the axis between each point and make assumptions.
Usama Mustafa (18-MCE-53):
Our this member can makes the DH table and examine the relation of each joint. Describe the
angle between the axis their distance and then draw the individual transformation from 1 to 6.
Usaid Ahmad (18-MCE-45):
This team member can work on the Matlab for transformation of matrix. In depth analyze the
problem on matlab, generate the codes according to given condition and assume the values for
effective solution on matlab.
Theory involve in the solution of the problem
Abstract:
Robot manipulators are getting more and more attention nowadays. This is due to their high
precision and the speed they provide while executing their tasks. The desires for such high
standards are increasing exponentially due to the extended workspace that manipulators
provide. Therefore, a safe controller is needed to make it possible for the robot to work
alongside people considering the safety precautions. These safety preconditions are widely
spread, even when the needs for better human-friendly robots are rising. This thesis will
introduce and explain a way to model a 6-axis robot by using its dynamical properties as well
as the development of a joint space inverse dynamic controller.
Robotics manipulator:
Robot manipulators, in general, are built by two or several links. Each link has its own mass
center, moment of inertia, etc. It is easier to define a link in a fixed coordinate system for each
link part, in a fixed coordinate system (world frame) shown with the black axis. This coordinate
system does not move its position nor the orientation with the change of robot joint variable.
However, the links’ fixed coordinate system (reference frames) which is shown with (red, green
and blue) representing (x; y and z)-axis can change the position and orientation. The change
occurs alongside the change of the joint variables, a definition of the joint variables will be
introduced in section 2.3. Thereafter, to describe the position of the mass center of any link
part, a transformation can be used between the frames.
Transformation:
Using matrices to apply a translation and/or rotation to a point is beneficial due to the
associative property of the matrix multiplication. The homogeneous transformation matrix, is
a (4x4) matrix, which gives the information that changes the representation vector pl of a
certain point from one frame to another, which gives vector pw. A general homogeneous
transformation matrix looks as follows:
DH parameters:
DH parameters are four parameters that describe the convention for attaching a reference frame
to the links of a robot manipulator [14], or in general, a kinematic chain, see Figure 2.2. This
convention is based on four transformations, first rotation around ˆ z followed by a translation
in ˆ z and then a rotation around ˆ x and lastly a translation in ˆ x.
• _i : Link twist angle from xi--1 to xi measured along zi--1.
• di : The distance from xi--1 to xi measured along zi--1.
• _i : Link twist angle from zi--1 to zi measured along xi .
• ai : The distance from zi--1 to zi measured along xi .
