MATLAB SCREENSHOT FOR CODING OF PROBLEM 2
MATLAB CODE FOR PROBLEM 2
% Code for solution to Problem number 7: inverse kinematics
% Mehrab Masayeed Habib L20495918
clc
clear all
close all
syms x y R;%we use x to denote for angle theta and use y to denote for angle fi
A1=[1 0 0; 0 cos(x) -sin(x); 0 sin(x) cos(x)]
A2=[cos(y) 0 sin(y); 0 1 0; -sin(y) 0 cos(y)]
A3=[0 -1 0; 1 0 0; 0 0 1]
A4=[1 0 0; 0 cos(y) sin(y); 0 -sin(y) cos(y)]
A5=[1 0 0; 0 cos(x) sin(x); 0 -sin(x) cos(x)]
R=A1*A2*A3*A4*A5;
disp(R)
OUTPUT:
A1 =
[1, 0, 0]
[0, cos(x), -sin(x)]
[0, sin(x), cos(x)]
A2 =
[ cos(y), 0, sin(y)]
[ 0, 1, 0]
[-sin(y), 0, cos(y)]
A3 =
0 -1 0
1 0 0
0 0 1
A4 =
[1, 0, 0]
[0, cos(y), sin(y)]
[0, -sin(y), cos(y)]
A5 =
[1, 0, 0]
[0, cos(x), sin(x)]
[0, -sin(x), cos(x)]
[ 0, -cos(x)*(cos(y)^2 + sin(y)^2), -sin(x)*(cos(y)^2
+ sin(y)^2)]
[cos(x), sin(x)*(sin(x)*cos(y)^2 + sin(x)*sin(y)^2), -cos(x)*(sin(x)*cos(y)^2 +
sin(x)*sin(y)^2)]
[sin(x), -sin(x)*(cos(x)*cos(y)^2 + cos(x)*sin(y)^2), cos(x)*(cos(x)*cos(y)^2 +
cos(x)*sin(y)^2)]
SCREENSHOT FOR MATLAB CODING OF PROBLEM 5
MATLAB CODE FOR PROBLEM 5:
% Code for solution to Problem number 5
% Mehrab Masayeed Habib L20495918
clc
clear all
close all
syms T c1 s1 c3 s3 c4 s4 c5 s5 d2 d4 a5; % Here, cos(θ1) is denoted by c1,sin(θ1) is
denoted by s1 and the like.
A1=[c1 0 -s1 0; s1 0 c1 0; 0 -1 0 0; 0 0 0 1] %Homogeneous transformation matrics for
link 1
A2=[1 0 0 0; 0 0 -1 0; 0 1 0 d2; 0 0 0 1] %Homogeneous transformation matrics for
link 2
A3=[c3 0 -s3 0; s3 0 c3 0; 0 -1 0 0; 0 0 0 1] %Homogeneous transformation matrics for
link 3
A4=[c4 0 s4 0; s4 0 -c4 0; 0 1 0 d4; 0 0 0 1] %Homogeneous transformation matrics for
link 4
A5=[c5 -s5 0 a5*c5; s5 c5 0 a5*s5; 0 0 1 0; 0 0 0 1] %Homogeneous transformation
matrics for link 5
T=A1*A2*A3*A4*A5;
disp(T)
Output:
A1 =
[c1, 0, -s1, 0]
[s1, 0, c1, 0]
[ 0, -1, 0, 0]
[ 0, 0, 0, 1]
A2 =
[1, 0, 0, 0]
[0, 0, -1, 0]
[0, 1, 0, d2]
[0, 0, 0, 1]
A3 =
[c3, 0, -s3, 0]
[s3, 0, c3, 0]
[ 0, -1, 0, 0]
[ 0, 0, 0, 1]
A4 =
[c4, 0, s4, 0]
[s4, 0, -c4, 0]
[ 0, 1, 0, d4]
[ 0, 0, 0, 1]
A5 =
[c5, -s5, 0, a5*c5]
[s5, c5, 0, a5*s5]
[ 0, 0, 1, 0]
[ 0, 0, 0, 1]
[c4*c5*(c1*c3 - s1*s3) - s5*(c1*s3 + c3*s1), - c5*(c1*s3 + c3*s1) - c4*s5*(c1*c3 - s1*s3),
s4*(c1*c3 - s1*s3), a5*c4*c5*(c1*c3 - s1*s3) - d4*(c1*s3 + c3*s1) - a5*s5*(c1*s3 + c3*s1) -
d2*s1]
[s5*(c1*c3 - s1*s3) + c4*c5*(c1*s3 + c3*s1), c5*(c1*c3 - s1*s3) - c4*s5*(c1*s3 + c3*s1),
s4*(c1*s3 + c3*s1), c1*d2 + d4*(c1*c3 - s1*s3) + a5*s5*(c1*c3 - s1*s3) + a5*c4*c5*(c1*s3 +
c3*s1)]
[ -c5*s4, s4*s5, c4,
-a5*c5*s4]
[ 0, 0, 0,
1]
SOLUTION TO PROBLEM NUMBER 7
SCREENSHOT FOR MATLAB CODING OF PROBLEM NUMBER 7
PLEASE SEE NEXT PAGE FOR MATLAB CODING AND OUTPUT
MATLAB CODING FOR PROBLEM NUMBER 7
% Code for solution to Problem number 7: inverse kinematics
% Mehrab Masayeed Habib L20495918
close all
clear all
clc
x=sqrt(2)
y=sqrt(2)
z=2
d2=z-1 % In figure, we can see, d2= zc-1 and t= joint angle of theta for the first
link
t=atan2(y,x)*180/pi % we 180 degree= pi radians
d3 = -1+sqrt(x^2+y^2) % from the figure, (D3+1)^2= Xc^2+Yc^2
% we there is special case
%1) Singularity point
% when x = 0, y=0> θ1 becomes undefined. This is known as singularity point
% where any value of θ1 will work for some desired z. It is avoided by
% adding an offset to the first link
disp('For Singularity point:')
x=0
y=0
z=2
d2=z-1
t= atan2(y,x)*180/pi
d3 = -1 + sqrt(x^2+y^2)
% when x=0 and y>0, thetA(θ) 1 will be pi/2 or 90 degrees.
% we can understand it from the properties of atan2(y,x)
disp('For x=0 and y>2: ')
x-0
y=5
z=2
d2= z-1
t = atan2(y,x)*180/pi
d3 = -1+sqrt(x^2+y^2)
Output:
d2
1
t=
45
d3 =
1
For Singularity point:
x=
0
y=
0
z=
2
d2 =
1
t=
0
d3 =
-1
For x=0 and y>2:
ans =
0
y=
5
z=
2
d2 =
1
t=
90
d3 =
4
