EXPERIMENT #9:

Installation of Robotics Toolbox for Mat lab and performing the First Simulation Making a
Differential Wheel Robot do the Following Tasks:
 Moving to a Point
 Following a Line
 Following a Path

Apparatus
Laptops with Matlab and Robotics Toolbox (by Peter Corke)

Procedure
Download Robotics toolbox, extract and place in the MATLAB path location.
If the path is not the same, open MATLAB and change the directory path to X:\...\robot-9.8\rvc
tools In order to open Robotics toolbox, type startup_rvc.m in command window

Moving to a Point
A final destination point (x,y) is set up in the plane and the differential robot has to move to that
point. We will control the robot’s velocity and steering in order to reach the end point.

Following a Line
The robot has to follow a line. It requires two controllers in this case. One controls the heading
angle to move on the line and the other minimizes the distance between the robot and the line.

Following a Path
The robot traverses a non-linear path. This too requires two controllers as mentioned above.
MATLAB has Pure Pursuit path following controller. The Pure Pursuit path following controller
for a simulated differential drive robot is created and computes the control commands to follow a
given path. The computed control commands are used to drive the simulated robot along the
desired trajectory to follow the desired path based on the Pure Pursuit controller.
EXPERIMENT #10:
1: Implementing Forward Kinematics approach on a 2-DOF manipulator using graphical method
2: Implementing forward Kinematics on a 3 link cylindrical manipulator using D-H parameters

PART 1:

Forward kinematics refers to the use of the kinematic equations of a robot to compute the position of
the end-effector from specified values for the joint parameters. The kinematics equations for the series
chain of a robot are obtained using a rigid transformation [Z] to characterize the relative movement
allowed at each joint and separate rigid transformation [X] to define the dimensions of each link.

2-DOF manipulator: (graphical method).

PART B:

Introduction:

A commonly used convention for selecting frames of reference in robotics applications is

the Denavit and Hartenberg (D–H) convention which was introduced by Denavit and Richard
S. Hartenberg. In this convention, coordinate frames are attached to the joints between two links
such that one transformation is associated with the joint, [Z], and the second is associated with
the link [X].

Denavit-Hartenberg Parameters:-
The Denavit-Hartenberg Parameters (also called DH parameters) are the four parameters
associated with a particular convention for attaching reference frames to the links of a spatial
kinematic chain

There are four Denavit-Hartenberg Parameters