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Mechanisms and Robotics

This document is a Matlab assignment submitted by Ankith A for their Mechanisms and Robotics course. It involves writing code for the forward kinematics of a TX90 series 6-axis robot given its home position and dimensions. The code defines transformation matrices between axes using the link lengths and joint angles, calculates the tool point position, and plots the robot configuration in 3D.

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Ankith
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223 views6 pages

Mechanisms and Robotics

This document is a Matlab assignment submitted by Ankith A for their Mechanisms and Robotics course. It involves writing code for the forward kinematics of a TX90 series 6-axis robot given its home position and dimensions. The code defines transformation matrices between axes using the link lengths and joint angles, calculates the tool point position, and plots the robot configuration in 3D.

Uploaded by

Ankith
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Matlab Assignment

Submitted in fulfillment of the requirements of


DEZG561 – Mechanisms and Robotics
(Assignment)
By
Name: Ankith A
(ID NO: 2019HT30510)

BIRLA INSTITUTE OF TECHNOLOGY AND SCIENCE, PILANI


CAMPUS
First Semester 2019-2020
Assignment
Choose a six-axis robot from the attached brochure (TX 90 series). Using the given dimensions,
write a MATLAB code for forward kinematics of the arm for the given home position and find the tool
point. Plot the representation of the robot using a 3D plot.
Matlab code

%MATLAB code for forward kinematics of the arm for the given
home position and to find the tool point of TX90

clc
clear all

%code line enter varying theta value

theta1=input('enter the desired theta 1 value = ')


theta2=input('enter the desired theta 2 value = ')
theta3=input('enter the desired theta 3 value = ')
theta4=input('enter the desired theta 4 value = ')
theta5=input('enter the desired theta 5 value = ')
theta6=input('enter the desired theta 6 value = ')

% Defining dimensions of the robot

L1=478;
L2=289;
L3=425;
L4=-239;
L5=425;
d1=50;
d2=100;

%Origin

O=[0; 0; 0; 1]

%Articulated arm movement transformation definition

T01=rotz(theta1)*transz(L1)*rotx(90)
T12=transz(L2)
T21=transx(d1)*rotz(theta2)
T23=rotz(90)*transx(L3)*rotz(theta3)
T34=transz(L4)*rotz(theta4)*rotz(-90)*rotx(-90)
T45=transz(L5)*rotz(theta5)*rotx(90)
T56=rotx(-90)*rotz(theta6)*transz(d2)
Pn=T01*T12*T21*T23*T34*T45*T56*O

x1=T01*O
x2=T01*T12*O
x3=T01*T12*T21*O
x4=T01*T12*T21*T23*O
x5=T01*T12*T21*T23*T34*O
x6=T01*T12*T21*T23*T34*T45*O
x7=T01*T12*T21*T23*T34*T45*T56*O

X=[O(1) x1(1) x2(1) x3(1) x4(1) x5(1) x6(1) x7(1)];


Y=[O(2) x1(2) x2(2) x3(2) x4(2) x5(2) x6(2) x7(2)];
Z=[O(3) x1(3) x2(3) x3(3) x4(3) x5(3) x6(3) x7(3)];

%3D Plot
plot3(X,Y,Z,'-ys','LineWidth',5,...
'MarkerEdgeColor','g',...
'MarkerFaceColor','b',...
'MarkerSize',10)
xlabel('X-Rolling')
ylabel('Y-Pitching')
zlabel('Z-Yaw')

axis([-500 2000 -500 2000 -500 2000])

hold on

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