EE 570: Laboratory 1
3D Manipulator Visualization and Forward Kinematics
Due: Mo 04/06/2009
Write a program to compute the forward (position and velocity)
kinematics and display a manipulator in three dimensions.
The program should take as inputs:
- the D-H Table and
- a series of correlated joint variables, q, and velocities, dq/dt.
The program should output or show:
- Homogeneous Transformation Matrix relating end-effector position
and orientation to the base frame;
- display of frames 1 to n (with ability to turn on/off);
- end-effector linear and rotational velocities as vectors
(with ability to turn on/off);
- link offsets and lengths as cylinders to visualize robot
(see figure below as example, be able to turn on/off).
Manipulators for which visualization and forward
kinematics should work:
- Stanford
- SCARA
- PUMA 260
- Three-Link Planar RRR
- Two-Link Planar RP
Functions in Matlab that might be useful: cylinder, hgtransform,
line and makehgtform. Also note there is a 'Rotate 3D' button
in figures.
Test your forward kinematics for a variety of q, dq/dt including
moving them one at a time, and turn in results (values plus
visualization) for the cases qi = dqi/dt = 0;
qi = dqi/dt = 1, and qi =
dqi/dt = -1 for joint i revolute and 1 for joint i
prismatic.