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Link Lengths Are,: (Array For X) (Array For Y) % Define Meshgrid

The document discusses the kinematic model of a 4 degree of freedom robot arm, providing the link lengths and range of motion for each joint. It then presents the forward kinematics equations to calculate the end effector position (X,Y,Z) from the joint angles, and asks how to obtain the position of the end effector throughout the entire workspace using Matlab.

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Manoj Mallick
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55 views1 page

Link Lengths Are,: (Array For X) (Array For Y) % Define Meshgrid

The document discusses the kinematic model of a 4 degree of freedom robot arm, providing the link lengths and range of motion for each joint. It then presents the forward kinematics equations to calculate the end effector position (X,Y,Z) from the joint angles, and asks how to obtain the position of the end effector throughout the entire workspace using Matlab.

Uploaded by

Manoj Mallick
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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My robot has 4 dof connect with elbow and wrist.

Link lengths are,

l1=163.74;
l2=321.01;
l3=35.87;
a3=1.5;

Range of motion for joint variables,

q1=linspace(-pi/18,5*pi/18,50); % q1 range from -10deg to +50 deg and divide into 50 units
q2=linspace(-pi/3,pi/6,50); % q2 from -60deg to +30deg and divide into 50 units
q3=linspace(-pi/6,pi/6,50); % q3 from -30deg to +30deg and divide into 50 units

End-effector position (X,Y,Z) is calculated from Forward transformation.

X=l2.sin(q1)-a3.[sin(q1).sin(q3)-cos(q1).cos(q2).cos(q3)]+l3.cos(q1).sin(q2);

Y=l2.cos(q1)-a3.[cos(q1).sin(q3)+cos(q2).cos(q3).sin(q1)]-l3.sin(q1).sin(q2);

Z= l1+l3.cos(q2)+a3.cos(q3).sin(q2);

Q? How I get the position of end-effector in entire workspace from Matlab?

In my calculation,
I defined following,

x=l2.*sin(q1)-a3.*(sin(q1).*sin(q3)-cos(q1).*cos(q2).*cos(q3))+l3.*cos(q1).*sin(q2); (array for X)

y=l2.*cos(q1)-a3.*(cos(q1).*sin(q3)+cos(q2).*cos(q3).*sin(q1))-l3.*sin(q1).*sin(q2); (array for Y)

[X,Y]=meshgrid(x,y); % define meshgrid

Z=1711-7.616.*X-1.47.*Y-0.007871.*X^2-0.001136.*X.*Y; (this expression is obtained by fitting surface


on selected joint trajectory in 3D. I used plot of X,Y and Z to get joint trajectory) (the way I get Z is
correct ?, without Z cannot plot 3D surface)

mesh(Z) to plot the workspace.

Please go through this calculation process and let me know how I get the workspace plot from matlab. Your kind
help is highly appreciate and more valuable to me at this moments.
Best Regards
Malin Gunasekara

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