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EL424
LABORATORY MANUAL
Spring 2018
LAB 08
Measuring of twist and some transformation by using
MATLAB
Engr. Iqra Akram
______________________________________
LAB ENGINEER SIGNATURE & DATE
1. Learning Objectives:
a. Understanding of rigid body motion.
b. Understanding of transformation matrix.
2. Equipment Required:
MATLAB
PC
3. Introduction
MATLAB commands
se3mat = VecTose3(V)
Returns the se(3) matrix corresponding to a 6-vector twist V.
V = se3ToVec(se3mat)
Returns the 6-vector twist corresponding to an se(3) matrix se3mat.
AdT = Adjoint(T)
Computes the 6 × 6 adjoint representation [AdT] of the homogeneous transformation matrix T
Task 1:
The robot hand in Figure is holding an apple with a mass of 0.1 kg in a gravitational
field g = 10 m/s2 (rounded to keep the numbers simple) acting downward on the page.
The mass of the hand is 0.5 kg. What is the force and torque measured by the six-axis
force–torque sensor between the hand and the robot arm? We define frames {f} at the
force–torque sensor, {h} at the center of mass of the hand, and {a} at the center of mass
of the apple. According to the coordinate axes in Figure, the gravitational wrench on
the hand in {h} is given by the column vector
Fh = (0, 0, 0, 0, −5 N, 0)
and the gravitational wrench on the apple in {a} is
Fa = (0, 0, 0, 0, 0, 1 N).
a. Given L1 = 10 cm and L2 = 15 cm, find the transformation matrices Thf and
Taf.
b. Find the wrench measured by the six-axis force–torque sensor
Submission Declaration by the Student:
In submitting this lab write-up to the Lab Engineer/Instructor, I hereby declare that:
I have performed all the practical work myself
I have noted down actual measurements in this writeup from my own working
I have written un-plagarised answers to various questions
I have/have not obtained the desired objectives of the lab.
Reasons of not obtaining objectoves (if applicable): _________________________________
___________________________________________________________________________
___________________________________________________________________________
___________________________________________________________________________
___________________________
Student’s signature and Date
Student Evaluation by the Lab Engineer:
The Lab Engineer can separate this page from the writeup and keep it for his/her own record. It
must be signed by the student with date on it.
Lab Work: objectives achieved (correctness of measurements, calculations, answers to
questions posed, conclusion) ________/30
Lab Writeup: Neatness, appropriateness, intime submission ________/10
Troubleshooting: Were the student able to troubleshoot his/her work when it was
purposedly changed? ________/10
TOTAL: ________/50
Student's feedback:[Separate this page; fill it; drop in the Drop Box.]
Providing feedback for every lab session is optional. No feedback means you are satisified
The Lab Committee will consider only duly filled forms submitted within one week after the
lab
This feedabck is for LAB session: LAB Number: _____, Date: _____________________
General (to provide feedback on a persistent practice/ocurrence in LABs).
Your current CGPA is in the range 4.00 to 3.00/2.99 to 2.00/1.99 to 1.00/0.99 to 0.00