University of Engineering and Technology Lahore
Department of Mechatronics and Control Engineering
LAB 11: Implementation of Forward Kinematics and
Inverse Kinematics on 3 DOF Serial Manipulator in
MATLAB
OBJECTIVES:
To learn Forward Kinematics on a 3 DOF manipulator using Robotics Toolbox
To learn Inverse Kinematics on a 3 DOF manipulator using Robotics Toolbox
To learn Forward Kinematics on a 3 DOF manipulator using Graphical approach
To learn Inverse Kinematics on a 3 DOF manipulator using Graphical approach
To learn Forward Kinematics on a 3 DOF manipulator using D-H Table
INTRODUCTION:
Forward Kinematics refers to the use of kinematic equations of a robot to compute the position of end-
effector from specified values for joint parameters. While Inverse Kinematics, in robotics, makes use of
kinematics equations in order to find joint parameters that provide a desire position for each of the robot’s
end-effector.
Forward & Inverse Kinematics using Robotics Toolbox:
Firstly, you have to know about your robot whose forward and inverse kinematics analysis would be
observed. By using “Robotics Toolbox by Peter Corke”, firstly run the file ‘startup_rvc.m’. By following
these instructions, design 3 DOF planar robot and follow these MATLAB commands for forward and
inverse kinematics analysis.
clc,clear
L1=1; L2=2; L3=1;
% L=Link([th d a alpha])
L(1)=Link([0 0 L1 0]);
L(2)=Link([0 0 L2 0]);
L(3)=Link([0 0 L3 0]);
R=SerialLink(L,'name','3 DOF Mnaipulator')
qo=[0 0 0];
q=[0 pi/2 -pi/2];
forw=R.fkine(q)
R.plot(q)
% R.teach
inv=R.ikine(forw,qo,'mask',[1 1 1 0 0 0])
MCT 351: Introduction to Robotics
Department of Mechatronics and Control Engineering, U.E.T. Lahore
University of Engineering and Technology Lahore
Department of Mechatronics and Control Engineering
Forward Kinematics using Graphical Approach:
You have done all the calculations of forward kinematics in theory lectures. Implement those equations in
MATLAB, and find the end-effector position for given orientation.
Figure 1: 3 DOF Planar Robot
Pseudo Code:
1. Specify link lengths
2. Specify theta1=0 and theta2=900 and theta3=-900
3. Write down the equations of forward kinematics
4. X1=__________
5. Y1=__________
6. X2=__________
7. Y2=__________
8. X3=__________
9. Y3=__________
10. Then plot the 2 DOF Robot
11. Properly label the diagram
Inverse Kinematics using Graphical Approach:
You have done all the calculations of inverse kinematics in theory lectures. Implement those equations in
MATLAB, and find the angles of both links for given end-effector position.
Pseudo Code:
1. Specify link lengths
2. Specify end-effector position x=2; y=2;
3. Write down the equations of inverse kinematics
4. Theta1=__________
5. Theta2=__________
6. Theta3=__________
MCT 351: Introduction to Robotics
Department of Mechatronics and Control Engineering, U.E.T. Lahore
University of Engineering and Technology Lahore
Department of Mechatronics and Control Engineering
7. In order to show the right position of end-effector use forward kinematic equations
8. Then plot the 2 DOF Robot
9. Properly label the diagram
Forward Kinematics using DH Table:
You have done all the calculations of inverse kinematics in theory lectures. Implement those equations in
MATLAB, and find the angles of both links for given end-effector position.
Pseudo Code:
1. Specify link lengths
2. Specify theta1=0 and theta2=900 and theta3=-900
3. Write down the transformation matrix
4. Write down the DH parameters for 3 DOF planar robot
5. Substitute the DH parameters in transformation matrix
6. Find matrix T01, T12 and T23
7. Then plot the 3 DOF Robot
8. Properly label the diagram
OBSERVATIONS:
MCT 351: Introduction to Robotics
Department of Mechatronics and Control Engineering, U.E.T. Lahore
