Kinematic modelling of a MH3F robot - Advanced Robotics Assignment Answer

Assignment Task

Advanced Robotics Assignment Answer

TASK: Motoman MH3F robot. This is a computer-controlled six-joint robot, driven by six DC servomotors. The geometrical parameters of the MH3F are given in Figure 1(b).  1. Identify all links and joints of the MH3F as shown in Figure and establish (by drawing) DH coordinate frames for all links – you can use the coordinates as those in the lecture notes. You can also copy the figures from this assignment sheet and draw your own DH coordinates. 2. Identify all DH parameters and write into a table format as below:

3. Obtain the forward kinematic equations of the robot in matrix form using the link and joint parameters that you have already identified 4. Use MATLAB to calculate the robot end-effector’s position, i.e., the origin of the coordinate frame 6 of the robot, for the following joint positions:

5. When six joints are moving simultaneously, write a MATLAB program to determine and plot the robot end-effector’s position in a 3-dimensional plot (time t is 0 to 5 seconds at 0.2-second interval). In addition, the program should also plot the movement of the end-effector in XY, XZ, and YZ planes. The six joints are moving according to the following trajectories: (rad) ? 1 = ?2(1? 0.1t) (rad) ? 2 = 2(1? 0.04t) ? 3 = 3(1? 0.2t) (rad) ? 4 = ? 1 ? 5 = ? 2 ? 6 = ? 3 6. Calculate the inverse kinematic solutions for the first 3 joint angles (q 1 , q 2 , q 3 ) if the MH3F’s wrist positions are at [100, 150, 200] mm or at [-100, 250, -200] mm as given in the table below – list all possible solutions

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