Lab de robotica

“PRACTICA Nº 2”

“ROBÓTICA”

Alumno:

• ROQUE TURPO EDSON RAUL
• FOLLANO SUAREZ EDER NELSON
• ORDOÑEZ QUISPE HENRY ALFREDO
CUI:
• 20042769
• 20042759
• 20040609

Fecha:
• Jueves 07 de octubre de 2010

AREQUIPA – PERU
2010

AUTOR: Lizardo Pari.

1. Se tiene el análisis cinemática del manipuladorplano de 2 G.D.L.:

[pic]

[pic]

[pic]

a) Con los parámetros D-H hallados, construir el robot “r” con:

>> L1=link([0 1 0 0 0]);
>> L2=link([0 1 0 0 0]);
>> r=robot({L1 L2})

r =
noname (2 axis, RR)
grav = [0.00 0.00 9.81] standard D&H parameters

alpha A theta D R/P
0.000000 1.000000 0.000000 0.000000 R (std)
0.000000 1.000000 0.000000 0.000000 R (std)>> r.name='raulito'

r =
raulito (2 axis, RR)
grav = [0.00 0.00 9.81] standard D&H parameters

alpha A theta D R/P
0.000000 1.000000 0.000000 0.000000 R (std)
0.000000 1.000000 0.000000 0.000000 R (std)

b) Representar gráficamente el robot para [pic]

>> plot(r,[pi/2 pi/4])
[pic]

c) Represente para otros valores de [pic]
plot(r,[pi/2 pi/2])
[pic]
>>plot(r,[pi/4 pi/2])
[pic]

d) Represente el robot usando “drivebot(r)”
>> drivebot(r)
[pic]

e) Halle [pic]para [pic], con: fkine(r,[pi/2 pi/4])

>> fkine(r,[pi/2 pi/4])
ans =
-0.7071 -0.7071 0 -0.7071
0.7071 -0.7071 0 1.7071
0 0 1.0000 0
0 0 0 1.0000

f) Halle [pic]para otros valores de [pic]>> fkine(r,[pi/2 pi/2])
ans =
-1.0000 -0.0000 0 -1.0000
0.0000 -1.0000 0 1.0000
0 0 1.0000 0
0 0 0 1.0000

>> fkine(r,[pi/4 pi/2])
ans =
-0.7071 -0.7071 0 0.0000
0.7071 -0.7071 0 1.4142
0 0 1.0000 0
0 0 01.0000

g) Halle la representación simbólica de [pic]en función de [pic]
syms th1 th2
fkine(r,[th1 th2])

ans =

[ cos(th1)*cos(th2)-sin(th1)*sin(th2), -cos(th1)*sin(th2)-sin(th1)*cos(th2), 0, cos(th1)*cos(th2)-in(th1)*sin(th2)+cos(th1) ]
[ sin(th1)*cos(th2)+cos(th1)*sin(th2), cos(th1)*cos(th2)-sin(th1)*sin(th2), 0,sin(th1)*cos(th2)+cos(th1)*sin(th2)+sin(th1)]
[ 0, 0, 1, 0 ]
[ 0, 0, 0, 1]

2. Repita los pasos del apartado 1 para los dos siguientes robots

a) Robot cilíndrico de 3G.D.L.

[pic]
[pic][pic]

[pic]

>> L11=link([0 0 0 1 0]);
>> L22=link([-pi/2 0 0 0 1]);
>> L33=link([0 0 0 0 1]);
>> r=robot({L11 L22 L33})

r =
noname (3 axis, RPP)
grav = [0.00 0.00 9.81] standard D&H parameters

alpha A theta D R/P
0.0000000.000000 0.000000 1.000000 R (std)
-1.570796 0.000000 0.000000 0.000000 P (std)
0.000000 0.000000 0.000000 0.000000 P (std)

>> r.name='raulroque'
r =
raulroque (3 axis, RPP)
grav = [0.00 0.00 9.81] standard D&H parameters

alpha A theta D R/P
0.000000 0.000000 0.000000 1.000000 R (std)
-1.570796 0.000000 0.000000 0.000000 P (std)
0.000000 0.000000 0.000000 0.000000 P (std)>> plot(r,[pi/2 0.5 0.4])
[pic]

>> drivebot(r)
[pic]

>> syms th1 d2 d3
>> fkine(r,[th1 d2 d3])
ans =
[ cos(th1), -4967757600021511/81129638414606681695789005144064*sin(th1), -sin(th1), -sin(th1)*d3 ]
[ sin(th1), 4967757600021511/81129638414606681695789005144064*cos(th1), cos(th1), cos(th1)*d3 ]
[ 0,...