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Lab 7

The document describes the steps to set up inverse kinematics in Simulink to control a robot arm along a square trajectory. It involves creating a rigid body tree, generating end effector trajectories, configuring inverse kinematics blocks, and visualizing the results.

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faizan ahmad
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11 views

Lab 7

The document describes the steps to set up inverse kinematics in Simulink to control a robot arm along a square trajectory. It involves creating a rigid body tree, generating end effector trajectories, configuring inverse kinematics blocks, and visualizing the results.

Uploaded by

faizan ahmad
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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1.

Rigid Body Tree Setup:

 Ensure you have a rigid body tree (`DOF2_arm`) representing your robot's kinematic structure,
defining its joint configuration and end effector.
 Load this tree into your MATLAB workspace for use in Simulink.

2. Model Initialization in Simulink:

 Create or open a Simulink model where you'll implement the trajectory generation and
inverse kinematics.
 Include necessary blocks and components for signal generation, inverse kinematics, and
visualization.

3. Trajectory Generation:

 Use a Signal Editor block to generate the trajectory defining the end effector's path.
 Configure the Signal Editor to produce custom signals for X, Y, and Z coordinates of the end
effector over time.
 Define the key points (corners of the square trajectory) with specific time intervals for
movement between each point.
4. Preparing Input Signals for Inverse Kinematics:

 Connect the Signal Builder outputs to the inputs of a Coordinate Transformation


block using a mux of 3 inputs.
 Use this block to convert the X, Y, and Z trajectory signals into a homogeneous
transformation matrix (pose) required by the Inverse Kinematics block.
5. Inverse Kinematics Configuration:

 Insert an Inverse Kinematics block into your Simulink model.


 Configure the Inverse Kinematics block to receive the homogeneous transformation
matrix (pose) and other parameters:
 Input the rigid body tree (`DOF2_arm`) representing your robot.
 Specify the target end effector body (e.g., tool) within the rigid body tree.
 Set solver options and parameters like weights for position/orientation, initial joint
angle guesses, and solver method (e.g., Levenberg-Marquardt).

6. Joint Angle Calculation:

 Connect the output of the Coordinate Transformation block (homogeneous


transformation matrix) to the Inverse Kinematics block.
 Ensure weights are appropriately assigned to prioritize position calculations over
orientation.

7. Visualizing Results:

 Use a Demux block to separate the joint angle outputs from the Inverse Kinematics
block.
 Connect the joint angles to your robot model's actuators or simulation environment to
drive the robot's motion.
 Implement a Forward Kinematics block to calculate and display the resulting end
effector positions.
8. Simulation and Verification:

 Run the simulation to observe the robot's movement along the predefined square
trajectory.
 Adjust simulation parameters (e.g., solver tolerances) for desired accuracy and
performance.
 Visualize the robot's motion in different views (e.g., top view, isometric view) to
confirm the square trajectory.
Conclusion:

In this Lab Simulink-based implementation of inverse kinematics for robot motion, we followed a
systematic approach. First, we set up the robot's kinematic structure using a rigid body tree and
created a trajectory using Signal Editor to define the end effector's path. Next, we converted the
trajectory signals into a homogeneous transformation matrix and configured the Inverse Kinematics
block with appropriate parameters, including weights for position prioritization and initial joint angle
guesses. Finally, by visualizing the results using Forward Kinematics, we demonstrated precise
control over the robot's motion along a predefined square trajectory. This methodology provides a
comprehensive framework for trajectory planning and execution in robotics simulations.

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