Práctica 2: Cinemática Directa, Ejercicios de Introducción a la Robótica

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Practical Work 2:

Direct Kinematics

Diego Viadero y Edoardo Ardanese

Practical Work 2: Direct Kinematics

**1) USE THE FUNCTION THAT YOU IMPLEMENTED IN THE PRACTICAL WORK #1 (PART 1) TO CREATE A NEW FUNCTION THAT RETURNS THE DENAVIT-HARTENBERG MATRIX, GIVEN THE PARAMETERS Θ, D, A, Α. .................................................... 3

2. IMPLEMENT A FUNCTION (USING THE PREVIOUS ONE) TO OBTAIN THE DIRECT KINEMATICS OF THESE TWO ROBOTS: ...... 4**

Practical Work 2: Direct Kinematics

2. Implement a function (using the previous one) to obtain the direct kinematics of these two robots:

We create a function called Pract2_2 with their inputs and the output:

Practical Work 2: Direct Kinematics

function [transfmat] = Pract2_2(table,joints,values,time) %vemos y guardamos el tamaño de values en un vector ntimes y njoints para %utilizarlo en los bucles [ntimes njoints]=size(values); numberjoints=njoints(1) %creamos una matriz ideantidad para multiplicarla por la primera matriz % Denavit-Hartenberg for t=1:ntimes transfmat(:,:,t)=eye(4); p_old=[0 0 0]'; figure; for i=1:njoints switch joints(i) case 1 %caso de rotacion transfmat(:,:,t)=transfmat(:,:,t)DH(values(t,i),table(i,2),table(i,3) ,table(i,4)); case 0 %caso traslacion transfmat(:,:,t)=transfmat(:,:,t)DH(table(i,1),values(t,i),table(i,3) ,table(i,4)); end %ahora dibujamos los vectores p_new=transfmat(:,:,t)[0 0 0 1]'; grid on axis equal hold on plot3([p_old(1),p_new(1)],[p_old(2),p_new(2)],[p_old(3),p_new(3)],'- ','Color','g','LineWidth',4); p_old=p_new; end end dtool=table(numberjoints,2); l=0.4dtool; p1=[0,0.5l,0.5l,1]'; p1T=transfmatp1; p2=[0,0.5l,-0.5l,1]';p2T=transfmatp2; p3=[0,0,-0.5l,1]'; p3T=transfmatp3; p4=[0,-0.5l,-0.5l,1]';p4T=transfmatp4; p5=[0,-0.5l,0.5l,1]';p5T=transfmatp5; % plot3([PointTool(1),p3T(1)],[PointTool(2),p3T(2)],[PointTool(3),p3T(3) ],'r.-') % plot3([p1T(1),p2T(1)],[p1T(2),p2T(2)],[p1T(3),p2T(3)],'- ','Color','g','LineWidth',4) % plot3([p2T(1),p4T(1)],[p2T(2),p4T(2)],[p2T(3),p4T(3)],'- ','Color','g','LineWidth',4) % plot3([p4T(1),p5T(1)],[p4T(2),p5T(2)],[p4T(3),p5T(3)],'- ','Color','g','LineWidth',4) % end