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Lab 7

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131 views

Lab 7

Uploaded by

ammar Hashmi
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National University of Sciences & Technology

Course: MTS - 417 Intro to Robotics


Lab Manual
Prepared By: Dr. Tayyab Zafar & LE Hamza Sohail

Lab Number 07
CoppeliaSim EDU – Computing Inverse Kinematics of UR5

Introduction:
Inverse Kinematics is computed when robot needs to move at a known end effector position
and orientation calculating the required joint angles for smooth operation.

Software Used:
CoppeliaSim EDU v4.7

Programming Language:
LUA (SimIk Plugin Used)

Objectives of the Lab:


 To compute Inverse Kinematics of UR5

INVERSE KINEMATICS:
Add 7 reference frames and name them as O0, O1, …. , O6.
Put O0 as a child of UR5 and O1 for joint 1, O2 for joint 2 and so on…

66
National University of Sciences & Technology
Course: MTS - 417 Intro to Robotics
Lab Manual
Prepared By: Dr. Tayyab Zafar & LE Hamza Sohail

Now translate and rotate all the frames relative to parent frame and give them values 0,0,0 for both
position and orientation. Also make sure that UR5 is at 0,0,0 position for smooth measurement.
BASE, TIP and TARGET:
To compute inverse kinematics three dummy object to be placed. Tip to be placed under joint 6
along with O6. Target dummy object to be placed individually without being a child object of
anyone. Base to placed as a child object of UR5. Also make TIP and BASE orientation and position
0,0,0 with respect to the parent frame. Make target near robot for the robot to move in that direction
but it should not be outside workspace of the robot.

CODE & EXPLANATION:


 ADD modules
sim=require'sim'
simIK=require'simIK' - - specifically for inverse kinematics (simIK plugin)
 Initialize the robot, frames in sysCall_init( ) function
function sysCall_init()
-- Get the joint handles
jointHandles = {}
for i = 1, 6 do
jointHandles[i] = sim.getObjectHandle('../joint'..i) -- Replace '/robot_joint_' with your joint
names
end

67
National University of Sciences & Technology
Course: MTS - 417 Intro to Robotics
Lab Manual
Prepared By: Dr. Tayyab Zafar & LE Hamza Sohail

-- Get the frame Handles


O = {}
for i = 1, 6 do
O[i] = sim.getObjectHandle('../O'..i) -- Replace '/robot_joint_' with your joint names
end
 Get object handles of base , tip and target to compute inverse kinematics
simBase = sim.getObjectHandle('..')
simTip = sim.getObjectHandle('../tip')
simGoal = sim.getObjectHandle('/target')
 Create the environment for IK
ikEnv = simIK.createEnvironment()
ikGroup_undamped = simIK.createIkGroup(ikEnv)
simIK.setIkGroupCalculation(ikEnv, ikGroup_undamped, simIK.method_pseudo_inverse, 0, 6)
simIK.addIkElementFromScene(ikEnv, ikGroup_undamped, simBase, simTip, simGoal,
simIK.constraint_pose)
end
 In sysCall_actuation( ) function
function sysCall_actuation( )
simIK.applyIkEnvironmentToScene(ikEnv, ikGroup_undamped, true)
 Optional (calculation of joint angles)
--calculate the angles to validate
jointAngles = {}
for i = 1, #jointHandles do
local rad = sim.getJointPosition(jointHandles[i])
local deg = rad * (180 / math.pi) -- Convert radians to degrees
jointAngles[i] = deg
end

-- Print joint angles in degrees

68
National University of Sciences & Technology
Course: MTS - 417 Intro to Robotics
Lab Manual
Prepared By: Dr. Tayyab Zafar & LE Hamza Sohail

for i, angle in ipairs(jointAngles) do


print('Joint ' .. i .. ' angle: ' .. angle .. ' degrees')
end
end

Now check the joint angles it has moved and verify using joint tool to make sure that the robot
had moved correctly.

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