Exp no: 1 AIM: To determine the maximum and minimum position of links using MATLAB SOFTWARE REQUIRED: MATLAB R2021 (Robotics system toolbox and Simscape toolbox). PROCEDURE: 1 2, Open Matlab. In home select Simulink>Blank workspace>Create Model. Open Library browser. . Select Simscape> Foundation Library>Utilities>PS-Simulink converter(2), Simulink ~ PS Converter(2), Solver Configuration(1). Select Simscape>Multibody>Utilities> Mechanism Configuration. . Select Simscape>Multibody>Frames and transforms>World Frame(1), Rigid transform(7), Select Simscape>Multibody>Body elements>Brick Solid(3), Cylindrical solid(1), Select Simscape>Multibody>Joints>Revolute joint(2), Weld joint(1). ). Rename and connect the components as shown in the figure(1).. Note: Invert the component (Base, Link ~ 1,2,3) using etrl+I command. DETERMINATION OF MAXIMUM AND MINIMUM POSITION OF LINKS10. Double click the RT1. Under the translation section change the offset as [0 0 0.05). 11, Double click the Base. Under the geometry section change the radius as 0.05m and length as, 0.1m, Choose any colour from Graphic >Visual Properties>Colour to distinguish between links. Similarly change the parameters of the links with respect to their dimensions. 12, Similarly change the parameters of other rigid transforms corresponding to the dimensions. 13, Double click RII. Under Limits>Specify the bound for lower limit as -90 and upper limit as 90 ‘Under actuation> Torque - Automatically computed and Motion — Provided by input Under sensing> Check only the position Select apply>Ok 14, Similarly for R12, set the bound lower limit as -60 and upper limit as 60. 15. Change the parameters for Simulink-PS converter and PS-Simulink converter =e aed ‘ See Jee ieshashoomerrerenvaven “ae nga mar ptr ec ee Rovopeay ah take arcana erent eetucmetevememercs Se EGQEaeeceeaetince's tna: emmeanm um Deu dte salou Sentra oy beta ire sa eter ere ee = Pas enced ee peter tn Ce cin (Caer ae ee oe (ere nth |r16. Connect input of RJ to the Simulink-PS converter and the output to PS-Simulink converter. 17. Save the file in .sIx format. 18, Open the Matlab> Load the location of saved Simulink file> New Script> enter the code given below in the editor window. In importrobot() command, enter the name of the Simulink file you stored previously. 19. Save the code in .m format and run, also run the Simulink file.20. Observe the graphical output of the robot link in various standard views. 21. Open new Simulink file and copy-paste all the components from the previous Simulink file. 22. Group RT7 and Link3 using Ctrl+G command. A subsystem will be created. 23. Group RTS, Link 2, RT6. 24, Similarly create subsystem for Link | and Base. & — 25, Create a new subsystem grouping all the components in the system. Rename the subsystem as ‘Robot’, input as QI and Q2, output as QIM and Q2M. a1 QiM a2 Q2M Robot 26, Open library browser>Robotics system toolbox>Manipulator Algorithm>Get transform, 27. Open library browser>Robotics system toolbox>Utilities>Coordinate transformation conversion,28. Change the Parameters of the get transform and coordinate transformation conversion. 29, Connect the get transform and coordinate transformation conversion and group them, name the subsystem as ‘Forward Kinematics’ 30, Search Sine Wave(2), Mux(3), Scope‘). 31. Change the Paramaters of Sine Wave. ° ours ° = ow ne 32. Change the properties of scope by double clicking the scope and selecting the setting icon. Change the Number of input ports (3 inputs).33. Make the connections as shown in the figure. oI 34, Run the Simulink and observe the forward kinematics of the robot. RESULT: ‘Thus the determination of maximum and minimum position of links using the MATLAB R2021a was done successfully.TRAJECTORY CONTROL MODELING WITH Exp no: 2 INVERSE KINEMATICS USING SIMULINK AIM: To design a trajectory control modeling with inverse kinematics using MATLAB. SOFTWARE REQUIRED: MATLAB R2021a. PROCEDURE: 1. Take rigid body tree from the forward kinematics. 2. Insert Signal Builder(1), MUX(1), Coordinate Transformation Conversion(1), Constant(2), Inverse Kinematics(1), Demux(1), Terminator(1). 3. Double click Signal Builder. 4, Delete the pre-existing Signal 1 5. Insert a new signal by: Signal> New>Custom>Enter Time values=[0 1 23 4 5]; ¥ values=[0.35 0.25 0.25 0.15 0.15 0.25] Rename the signal as ‘X” Tae ara “Yt gasasr asso ove029 6. Insert another signal by: Signal>New Custom>Enter Time values=[0 12 3 4 5]; Y values=[0 0.1 0.11 0.11 0.01 0.01] Rename the signal as °Y”Yoerabes 012548) poremeneoised ox | mea 7. Insert another signal by: Signal>New >Constant>Rename it as *Z’ Left Point>Y: 0.11 ; ight Point=T: 10. 8, Change the parameters of Coordinate Transform Conversion as shown in figure. 9. Change the no of inputs of the MUX(3 inputs). [ienitennanntaet o 10. Rename the constants as Constant | and Constant 2 and change the values respectively.o = ia ten 11. Change the parameters of Inverse Kinematics as shown in figure. ieckasecs ee ae Peace Soeetneteareaenctoetate ‘mney sane esses yaiayoee om Borsa sore (Cree) ree 12, After changing the parameters of all the components, modify the connections as shown in the figure. = Q, - mar = Lis ml = 13. Run the Simulink and observe the output, RESULT: Thus the trajectory control modeling with inverse kinematics using MATLAB R2021a was done successfully,Exp no: 3 TRAJECTORY PATH PLANING OF 2R MANIPULATOR AIM: To design trajectory path planning of 2R manipulator using MATLAB. SOFTWARE REQUIRED: MATLAB R2021a. PROCEDURE: Open the MATLAB R202Ia software. Go to Home > New script. A new editor window will open. Type the program in the editor window. Save the MATLAB file. Go to editor > Run. Observe the output. AWARE PROGRAM: cle clear all robot = rigidBodyTree(DataFormat’ solumn',MaxNumBodies,3); L1=03; 12=03; body = rigidBody(‘link!'); joint = rigidBodyJoint(joint!’, revolute’); setFixedTransform(joint,trvee2tform({0 0 0); joint JointAxis = [0 0 1]; body.Joint = joint; addBody(robot, body, ‘base’); body = rigidBody(‘link2"); joint = rigidBodyJoint(‘joint2' revolute’), setFixedTransform(joint, trvec2tform([L1,0,0])); joint JointAxis = [0 0 1]; body Joint = joint;addBody(robot, body, ‘link!'); body = rigidBody(too!’); joint = rigidBodySoint('fix1'sfixed’); setFixedTransform(joint, trvec2tform({L2, 0, 0])); body Joint = joint; addBody(robot, body, 'link2"); showdetails(robot) t= (0:0.2:10); % Time count = length(t); center = [0.20.1 0]; radius = 0.15; thetal = t*(2*pi/t(end)); theta2 ~ t*(2*pist(end)); points = center + radius*[cos(theta2) sin(thetal) zeros(size(thetal))]; 440 = homeConfiguration(robot); ndof = length(q0); qs = zeros(count, ndof); ik = inverseKinematics(‘RigidBodyTree’, robot); weights = (0, 0, 0, 1, 1, 0}; endEffector = 'too!'; alnitial = q0; % Use home configuration as the initial guess for i= I:count % Solve for the configuration sati ’ position point = points(i,:); Sol = ik(endEffector,trvec2tform(point), weights qInitial); % Store the configuration asGi,:) = qSol; % Start from prior solution alnitial = gSol; end ing the desired end effector figure show(robot,qs(1:))s view(2) ax = gea; ax.Projection = ‘orthographic’, hold on, plot(points(:,1),points(:,2),'") axis([-0.1 0.9 -0.3 0.5]) framesPerSecond = 15; r= rateControl (framesPerSecond); for i= I:count show(robot,qsti,) drawnow waitfor(r); end reservePlot' false);OUTPU’ @ Fiowes =o x He [6 Van nae Toole Deitop Window Help : Dsas| S08 s5 41 x RESULT: ‘Thus the trajectory path planning of 2R manipulator using MATLAB R2021a was done successfullyCHECK FOR ENVIRONMENTAL COLLISIONS WITH Exp no: 4 MANIPULATOR AIM: To check for the environmental collisions with manipulator using MATLAB. SOFTWARE REQUIRED: MATLAB R2021a, PROCEDURE: 1. Open the MATLAB R2021a software. 2. Go to Home > New script. A new editor window will open, 3. Type the program in the editor window. 4. Save the MATLAB file. 5. Go to editor > Run, 6. Observe the output. PROGRAM: cle clear all % Create two platforms platform! = collisionBox(0.5,0.5,0.25) platform! Pose = trvec2tform([-0.5 0.4 0.2]) platform2 = collisionBox(0.5,0.5,0.25); platform2,Pose = trvec2tform((0.5 0.2 0.2]); % Add a light fixture, modeled as a sphere lightFixture = collisionSphere(0.1); lightFixture. Pose = trvec2tform({.2 0 1)); % Store in a cell array for collision-checking worldCollisionArray = {platform! platform2 lightFixture}; % ax = exa(worldCollisionArre ax = exampleHelperVisualizeCollisionEnvironment(worldCollisionArray); figHandle = figure;% Show the first object show(worldCollisionArray{1}); % Get axis properties and set hold ax = goa; hold all; % Show remaining objects for i = 2:numel(worldCollisionArray) show(worldCollisionArray {i}, "Parent", ax); end % Set axis properties axis equal; robot = loadrobot("kinovaGen3","DataFormat","column’,"Gravity",[0 0 -9.81)); ‘% Show the robot in the environment using the same axes as the collision objects. ‘% The robot base is fixed to the origin of the world. show(robot,homeConfiguration(robot),"Parent”,ax); startPose = trvec2tform({[-0.5,0.5,0.4])*axang2tform({ 0 0 pi); endPose = trvec2tform({0.5,0.2,0.4])*axang2tform({1 0 0 pil); % Use a fixed random seed to ensure repeatable results mg(0); ik = inverseKinematics("RigidBodyTree" robot); weights = ones(1,6); startConfig = ik("EndEffector Link" startPose, weights,robot homeConfiguration); endConfig = ik("EndEffector_Link" endPose,weights,robot homeConfiguration); % Show initial and final positions show(robot,startConfig); show(robot,endConfig); [4,94,qd4,t] = trapveltraj([homeConfiguration(robot) startConfig,endConfig},200,"EndTime",2); % Loop through the other positions for i I:length(q) show(robot, :,i)," Parent",ax,"PreservePlot", false); % Update the figure drawnow end disp("program over")OUTPUT: Fie tt Vow teen Teoh Deby dow Hp : Osus a0 ar Plot of q Plot of qd Plot of qdd RESULT: ‘Thus the environmental collision with manipulator is checked using MATLAB R2021aCHECK FOR WORLD COLLISION PAIR WITH Exp no: 5 7-AXIS KINOVA GEN3 ROBOT AIM: To check for world collision pair with 7-axis Kinova Gen3 Robot using MATLAB, SOFTWARE REQUIRED: MATLAB R2021a. PROCEDURE: Open the MATLAB R2021a software Go to Home > New script. A new editor window will open. Type the program in the editor window. Save the MATLAB file. Go to editor > Run, Observe the output. auaene PROGRAM: cle clear all % Create two platforms platform! = collisionBox(0.5,0.5,0.25); platform Pose = trvec2tform([-0.5 0.4 0.2]); platform2 = collisionBox(0.5,0.5,0.25); platform2.Pose = trvec2tform((0.5 0.2 0.2]); % Add a light fixture, modeled as a sphere lightFixture = collisionSphere(0.1); lightFixture.Pose = trvec2tform({.2 0 1)); % Store in a cell array for collision-checking worldCollisionArray = {platform1 platform? lightFixture); Visualize the environment using a helper function that iterates through the collision array. ax = exampleHelperVisualizeCollisionEnvironment(worldCollisionArray); figHandle = figure; % Show the first objectshow(worldCollisionArray{1}); % Get axis properties and set hold ax = gea; hold all; % Show remaining objects for i = 2:numel(worldCollisionArray) show(worldCollisionArray {i}, "Parent", ax); end % Set axis properties axis equal; robot = loadrobot("kinovaGen: DataFormat","column","Gravity",[0 0 -9.81]); show(robot,homeConfiguration(robot),"Parent" ax); startPose = trvec2tform([-0.5,0.5,0.4])*axang2tform({1 0 0 pil): endPose = trvec2tform({0.5,0.2,0.4])*axang2tform({1 0 0 pi)); % Use a fixed random seed to ensure repeatable results mg(0); ik = inverseKinematics("RigidBodyTree" robot); weights = ones(1,6); startConfig = ik(""EndE ffector_Link" startPose, weights,robot hameConfiguration); endConfig = ik("EndEffector_Link" endPose, weights,robot homeConfiguration); '% Show initial and final positions show(robot, startConfig); show(robot,endConfig); = trapveltraj([homeConfiguration(robot),startConfig,endConfig},200,"EndTime",2); % Initialize outputs inCollision = false(length(q), 1); % Check whether each pose is in collision worldCollisionPairldx = cell(length(q),1); % Provide the bodies that are in collision for i= I:length(q) [inCollision(i),sepDist] = checkCollision(robot,q(:,i),worldCollisionArray,"IgnoreSelfCollision”,"on","Exhaustive","on"); {bodyldx,worldCollisionObjldx] = find(isnan(sepDist)); % Find collision pairs worldCollidingPairs = [bodyldx,worldCollisionObjldx]; worldCollisionPairldx {i} = worldCollidingPairs; end isTrajectoryInCollision = any(inCollision) = find(inCollision,1) collidingldx2 = find(inCollision,1,"last") % Identify the colliding rigid bodies, collidingBodies1 = worldCollisionPairldx {collidingldx1}*[1 0); collidingBodies2 = worldCollisionPairldx {collidingldx2}*[1 0);% Visualize the environment. ax = exampleHelper VisualizeCollisionEnvironment(worldCollisionArray); % Add the robotconfigurations & highlight the colliding bodies. show(robot,q(:,collidingldx 1),"Parent",ax,"PreservePlot", false); exampleHelperHighlightCollisionBodies(robot,collidingBodies! + 1,ax); show(robot,q(:,collidingldx2),"Parent" ax); exampleHelperHighlightCollisionBodies(robot,collidingBodies2 + 1,ax); WORKSPACE: Hasoanaraot, Ea eecgtca = Fae zone ruta se WORLD COLLISION PAIR: —$— enRESULT: Thus the world collision pair with 7-axis Kinova Gen3 Robot is che ed using MATLAB R2021a.ROBOT PROGRAMMING AND SIMULATION FOR, Exp no: 6 PICK AND PLACE AIM: To program and simulate the robot for pick and place using Dobot. REQUIREMENTS: Dobot, DobotStudio-V 1.9.4 PROCEDURE: 1. Check the connections of the Dobot. Incusrial abot = ‘Air supey ‘vacuum elector & Proportional valve 6-D force sensor Vacuum gripper Test objects Cok 2. Connect the Dobot with the DobotStudio-V 1.9.4 software using the connect option in the software. 3. Set the Dobot in home position. 4, Select the suction cup tool. 5. Select the teaching and playback method.6. Open a new workspace 7. To manually teach a Dobot, press the lock button in the Dobot and move the arm step by step of ‘we can control the movement by adjusting the coordinates (World and Joint Coordinates). 8, The coordinates of each movement will be recorded. 9. If it is a linear movement set the motion style as MOVL, if it is a free movement set the motion style as MOVI. 10. Once the arm touches the object, the suetion cup should be ON to pick the object, the suction cup should be OFF to place the object. 11. The end position must be set to the home position. 12. Once the coordinates are fixed, run and observe the pick and place movement. RESULT Thus, the programming and simulation of Dobot for pick and place was done successfully.ROBOT PROGRAMMING AND SIMULATION FOR, Exp no: 7 PICK AND PLACE — USING PROXIMITY SENSOR BY BLOCKLY METHOD AIM: To program and simulate the robot for pick and place by blockly method using Dobot and proximity sensor. REQUIREMENTS: Dobot, DobotStudio-V1.9.4, Conveyor with proximity sensor. PROCEDURE: 1, Conneet the Dobot with conveyor. Incustril obot ‘Air supply Vacuum sector 8 Proportional valve 6-0 fore sensor Vacuum gripper Test objects 2. Connect the Dobot with DobotStudio-V1.9.4 using connect option in the software. 3. Set the Dobot to home position. 4, Select the suction cup tool. 5, Select the blockly method.6. Open a new work space. 7. Select the required blockly module on the left pane of the blockly page to the program (logic, loops, variables). Loic Loops Math Text Lists Colour Venables Functions DobotAP! 8, Add the coordinates of home position. 9. ON the photoelectric sensor. 10. Set the speed of the stepper motor of the conveyor to 50 mm/s, pe = O mms.14, Use a break out block to stop the loop. 15, Run and observe the pick and place movement. PROGRAM: RESULT: Thus, the programming and simulation to pick and place the object by blockly method using Dobot with conveyor and proximity sensor was done successfully.ROBOT PROGRAMMING AND SIMULATION FOR, Exp no: 8 PICK AND PLACE — USING PROXIMITY SENSOR BY SCRIPT METHOD AIM: To program and simulate the robot for pick and place by script method using Dobot and proximity sensor. REQUIREMENTS: Dobot, DobotStudio-V1.9.4, Conveyor with proximity sensor. PROCEDURE: 1, Conneet the Dobot with conveyor. Inurl abot ‘Air supply Vacuum sector 8 Proportional valve 6-0 fore sensor Vacuum gripper Test objects 2. Connect the Dobot with DobotStudio-V 1.9.4 using connect option in the software. 3. Set the Dobot to home position. 4, Select the suction cup tool 5, Select the script method,6. Open a new work space. 7. Type the program in the workspace. 8, Run and observe the pick and place movement. PROGRAM: Uwrile True: cuzrent_pose = dfype.GetPose(api} 3 dtype.SetPTPCmdkx(api, 2, 225.632, 22.0845, 5€.9407, current pose[3], 1) 4 atype.Setinfraredsensor api, 1,2, 1) ‘5 STEPPER CRICLE = 360.0 / 1.8 * 10.0 4 16.0 © Mi BER CRICLE = 3.14lsazesssege * 3¢.0 7 vel = Host 50) * STEPPER CRICLE / 104 PER CRICLE @ atype.SeetcroeEs (opi, ° 10 ; ane (vel), 2) while Tea LE (atype.CotInfraredsensor (api, 2) {0]) — 1 i STEP_PERCRICLE = 360.0 / 1.2 10.0 + 16.0 12 © PER_CRICEE = 3.141592sss5e08 * 36.0 13 vel = Float (0) * STEP_PER CRICLE / mt PER CRICLE 4 dype.SetEMotorEx(api, 0, 0, int(vell, 1) 15 break 16 current_pose = dtype.CetPose (api) TZ aType.Set¥TFOmdEx(api, 2, 264.0041, (-97.9962), 30.4682, curzent_pose[3], 1) 18 Type. SetEndéftectorSuctionCupex (api, 0, 1) Ig current_pose = dType.GetPose (api) 20 atype.seceTEOmdEx(api, 2, 264.0041, (-97.3962), 17.7962, curvent_pose[3], 1) BL type. SetEnd ftectorSuctionCupex (api, 1, 1) 22 current_pose = atype.cetrose (ap) 3 atype.secETEOMMEx(apt, 2, 264.0041, (-97.3962), 79.3961, current_pose[3], 2) 24 type. Setenarerectorsuctioncupex (apt, 1, 1) curzent_pose = dType-GetPose (api) AType.SetPTEOmdEx(api, 2, 245.0027, 67-8914, 50.5515, curzenz_pose[3], 1) Type. SetEndiftectorSuerioaCupes (api, 1, 1) current_pese = dType.GetPore (api) aType. SeePTPOmdEx(api, 2, 24¢.15@8, 86.1864, 18.5901, curzent_pose[3], 1) Type. SetEndtftectorSuerionCepes (api, 0, 1) current_pose = dType-GetPose (api) Type. Set¥TPOmdEx(api, 2, 249.9875, 77.2886, €1.75€9, curzent_pose (31. 1) Type. SetEndEffectorSuctionCwEx (api, 0, 1) current_pose = dType.GetPose (api) sive Serrated, 2,208. 814 78 G6 BO.SU0, earzent-paceials 11 type. SetEnd ffectorSuctionCupEx(api, 0 RGRSRVSBBVRG SSS RESULT: Thus, the programming and simulation to pick and place the object by script method using Dobot with conveyor and proximity sensor was done successfully.DETERMINATION OF MAXIMUM AND MINIMUM Exp no: 9 POSITION OF LINKS — SPATIAL MANIPULATOR AIM: To determine the maximum and minimum position of links of a spatial manipulator. SOFTWARE REQUIRED: MATLAB R2021a. PROCEDURE: 1. Open the MATLAB R2021a software. 2. Go to Home > New script. A new editor window will open. 3. Type the program in the editor window. 4. Save the MATLAB file. 5. Goto editor> Run. 6. Observe the output. PROGRAM: cle clear all gen3=loadrobot("kinovaGen3"); gen3.DataFormat='column’; 4q_home=[0 15 180-130 0 55 90)*pi/180; eeName~EndEffector_Link'; T_home=getTransform(gen3,q_home, show(gen3,q_home); axis auto; view([60,10]); k-tform2trvec(getTransform(gen3,q_home,eeName)); [isColliding sepDist]=checkCollision(gen3,q_home,'Exhaustive' on’) ik=inverseKinematies(’RigidBodyTree’,gen3), ik SolverParameters.AllowRandomRestart=false; weights=[1,1,1,1,1,1]); ¢_init=q_home; T des-T home: Name)kI-k; figure;set(gef, Visible’, k1=k-0.1; = A)-k1; [q_sol,q_info]=ik(eeName,T_des,weights,q_init) ax=show(gen3,q_sol); ax.CameraPositionMode='auto’, view({60,10)); WORKSPACE: Workspace Name = Vate ane ed vee = hd Aves ecllame “EndEffector Link gen 1 rigidBodTree ik it ineereetinernatice iecotising ° k [nas4700013.043371 Ki [0.3547 -00867, 0.3337 auhome np2eiea 1416-226 acto ed etvct int ozeie.ta1e-228 a0 [n.30t6,121603.574, sepDist 3x9 daubie Tider det daibie Thome et doutie wats haa OUTPUT: info = struct with lds: erations: 107 NumRandomRestart: 0 PoseErrriorm: 0.0053 BitFeg: ‘Status: best avaiable! fe>> RESULT: Thus the determination of maximum and minimum position of links of a spatial manipulator using MATLAB R2021a was done successfully.INVERSE KINEMATICS OF KINOVA GEN3 ROBOT Exp no: 10 TO DRAW A CIRCULAR PATH AIM: To draw a circular path with Kinova Gen3 Robot using inverse kinematics. SOFTWARE REQUIRED: MATLAB R2021a. PROCEDURE: 1. Open the MATLAB R2021a software. 2. Go to Home > New script. A new editor window will open. 3. Type the program in the editor window. 4. Save the MATLAB file. 5. Go to editor > Run. 6. Observe the output. PROGRAM: cle clear all gen3 = loadrobot("kinovaGen3"); gen3 DataFormat = ‘column’; 4_home =[0 15 180 -130 0 55 90)"*pi/180 eeName = 'EndEffector_Link’ T_home = getTransform(gen3, q_home, eeName); show(gen3,q_home); axis auto; view([60,10); ik = inverseKinematics(‘RigidBodyTree’,gen3); ik SolverParameters. AllowRandomRestart = false; weights =[1, 1, 1, 1,1, 15 «init = q_home; center = [0.5 0 0.4]; %[x y 2] radius = 0.1; dt= 0.25; .dt:10)';theta = t*(2*pist(end))-(pi/2); theta = t*(2*pist(end)); points = center + radius*[0*ones(size(theta)) cos(theta) sin(theta)]; hold on; plot3(points(:,1),points(:,2),points(:,3),-*2'Line Width’, 1.5); numJoints = size(q_home,1); numWaypoints = size(points,1); gs = zeros(numWaypoints,numJoints); for i= I:mumWaypoints T_des = T_home; des(1:3,4) = points(i,:)' [q_sol, q_info] = ik(eeName, T_des, weights, q_init); gs(i,:) = q_sol(I:numJoints); q init = q sol; end °%Visualize the Animation of the Solution figure; set(gef,'Visible'’on'); ax = show(gen3,qs(1,2)"); ax.CameraPositionMode=‘auto’; hold on; % Plot waypoints plot3(points(:,1),points(:,2).points(:,3),'-2','LineWidth',2); axis auto; view([60,10]); grid(‘minor’); hold on; title‘Simulated Movement of the Robot’); % Animate framesPerSecond = 30; r= robotics Rate( framesPerSecond); for i= L:numWaypoints show(gen3, qs(i,:)/PreserveP Lot false); drawnow; waitfor(r); end xlabel('x’) ylabel('y); label’ axis auto; view({60,10]); grid(‘minor');OUTPUT: Deus/s/oe ro | i RESULT: ‘Thus, the circular path with Kinova Gen3 Robot using inverse kinematics was done successfully.INVERSE KINEMATICS OF KINOVA GEN3 ROBOT Exp no: 11 TO DRAW A TRIANGULAR PATH AIM: To draw a triangular path with Kinova Gen3 Robot using inverse kinematics. SOFTWARE REQUIRED: MATLAB R2021a. PROCEDURE: 1. Open the MATLAB R2021a software. 2. Go to Home > New script. A new editor window will open. 3. Type the program in the editor window. 4, Save the MATLAB file. 5. Go to editor > Run. 6. Observe the output. PROGRAM: cle clear all gen3 = loadrobot("kinovaGen3"); gen3.DataFormat = ‘column’; q_home = [0 15 180 -130 0 55 90)"*pi/180; eeName = 'EndEffector_Link’ T_home = getTransform(gen3, q_home, eeName); show(gen3,q_home); axis auto; view([60,10)); ik = inverseKinematics(‘RigidBodyTree’, gen3); ik SolverParameters. AllowRandomRestart = false; weights = (1, 1, 1, 1,1, 15 «init = q_home; points(1,:)=[0.5 00.4], k for i= 0.1:0.1:0.3 kek:points (k,:)= points(1,:)+[0 i 0); end for j=0.1:0.1:0.3 kek+1; points (k,:)= points(k1,:)+[0 0}; end k2-k; for j-0.1:0.1:0.3, k+l; points (k,:)= points(k2,:)}+[0 -j =: hold on; plot3(points(:,1),points(:,2),points(:,3),-*2’, ‘LineWidth’, 1.5); end numJoints ~ size(q_home,1); numWaypoints = size(points,1); 4s = zeros(numWaypoints,numJoints); for i= I:numWaypoints T_des = T_home; T_des(1:3,4) = points(i,.); [q_sol, q_info] = ik(eeName, T_des, weights, q_init); if q_infoExitFlag—2 disp(‘not reached the point',T_des(:,4)) end qs(i,:) = q_sol(1:numJoints); init = q_sol; end %Nisualize the Animation of the Solution figure; set(gef,'Visible'on’); ax = show(gen3,qs(1,:)'; ax.CameraPositionMode='auto', hold on; % Plot waypoints plot3(points(:,1),points(:,2),points(:,3),-2'LineWidth'.2); axis auto; view({60,10]); grid(‘minor’); hold on; title('Simulated Movement of the Robot’); % Animate % framesPerSecond =20; % = robotics Rate(framesPerSecond); for i= I:numWaypoints show(gen3, qs(i,:)',PreserveP lot’ false); drawnow; % waitfor(0.1); end xlabel(’x)s ylabel('y’); alabel('2); axis auto; view([60,10));, grid(‘minor');jeuy a /08) eo RESULT: Thus, the triangular path with Kinova Gen3 Robot using inverse kinematics was done successfully.6-AXIS MITSUBISHI ROBOT (INDUSTRIAL ROBOT) Exp no: 12 PROGRAMMING FOR PICK AND PLACE AIM: To program the 6-axis Mitsubishi Robot for pick and place movement. SOFTWARE REQUIRED: 6 —axis Mitsubishi Robot, RT ToolBox3, Teaching Pendant PROCEDURE: 1. Check the connections and switch on the 6-axis Mitsubishi Robot, 2. Connect the 6-axis Mitsubishi Robot with RT ToolBox3 software. 3. In RT ToolBox3 go to Home > Online > program > (right click) new > name the file. 4. Type the program. 5. To add the positions of each point, we need to teach the robot using teach pendant and add the position to the software. 6. First set the home position of robot using the teach pendant by the following steps: a. On the manual mode in the PLC. b. Turn on the TB enable button at the back of the teach pendant. ¢, Hold the scroll button to a limited angle and click the servo button (The servo will be off when the scroll is over pressed or when it is released).4, Click the jog button > select the appropriate function (tool or joint). ¢. Now by using the coordinates (x,y,2) set the position. 7. Now in the software click add and the coordinates will be displayed, now name the coordinates as PHOME and click get current position so that your current position will be stored 8, Likewise move the coordinates using teach pendant and set the P1 point and store the position. 9. Repeat this process for all the positions ( PHOME, P1, P2, PICK1,PLACE1) Sp ae) == apeaieai 10, Once the positions are added, save the program.11. To teach the program to the robot we need to do the following steps: a, Under workspace click parameter > program parameter > slot table, fe] want | ves (aaa) 12, Once the program is loaded, turn off the TB enable. 13. Switch to auto mode in PLC and start the cycle. 14, Observe the pick and place movement. Note: If there is any emergency situation press the emergency button in PLC.PROGRAM: i] Sezvo On 2) ved, 3) Accel 50,50 4) Mov PHOME 5) Mov F2 6 Mov PICKI 7) M_Out (10) 8) M_ Out (1. 9) Diy 0.5 10, Mow P2 Mov PHOME Mov PLACEL ¥M_Out (1) M_Out (11)=: Diy 0.5 Mov PHOME Mov nen 8 Mov PHOME 8) Mov P2 30, Mow PICK3 31) Mout (1 32) M Out (11)=: 33, Diy 34 Mow P2 35, Mow PHOME 36, Mow PLACES 37) Mout (1 38) M Out (1 39 Diy 0.5 20, Mow PHOME 41) Hic RESULT: Thus, the pick and place movement of 6-axis Mitsubishi Robot was done successfully