Department of Mechatronics Engineering Air University

Lab # 6
Objective
Given a set of joint angles determine the position and orientation of a 3-DOF manipulator
and verify the analytical solution using Corke Matlab Robotics Toolbox.
Given a point in space determine the joint angles for the 3-DOF manipulator

Lab Exercise
Consider a 3 DOF manipulator as shown in figure below assuming the fixed-length parameters
as 1= 4, 2 = 3, 3= 2 and 4= 1 units.

Show the following results:

(a) Determine the link / DH parameters of the 3R manipulator.

(b) Derive the neighbouring homogeneous transformation matrices using the DH
parameters
(i) 1 = 0 ; 2 = 0 ; 3 = 0
(ii) 1 = 10 ; 2 = 20 ; 3 = 30
(iii) 1 = 90 ; 2 = 30 ; 3 = 45
(c) Calculate the forward pose kinematics results for 03 for the above input cases
Verify the analytical solution for the above cases using Corke Matlab Robotics Toolbox.
Also show the plots for each case.
(d) Using the point coordinates obtained from the above three cases in part (c) find the
corresponding joint angles. Also mention for which case the solution is unique.

Advance Robotics Lab Spring 2017