Experiment 4-5 2023

Experiment 4
AIM:
Aim: Perform the inverse kinematics of the different robot of given DH parameters using
RoboAnalyzer
Equipment Required:
1. Computer with RoboAnalyzer software installed
2. 2-DOF planar robot with DH parameters
Introduction:
Inverse kinematics problem deals with the determination of joint variables given a desired
position and orientation for the tool. The inverse kinematics problem is significant because
manipulation tasks are usually formulated in terms of the desired tool position and orientation.
Analysis of Inverse Kinematics is in general more difficult and not straightforward like Forward
Kinematics problem. Exact solution of Inverse Kinematics problem for complex configure
manipulator is very difficult. The solution of Inverse Kinematics problem for control of a robot
manipulator is attempted using various methods such as algebraic methods, geometric methods,
and numerical methods. Algebraic methods are used to obtain closed-form solutions, but these
methods, do not guarantee closed form solution.
Theory:
Given the end-effector position and orientation from Forward kinematics problem, the inverse
kinematics approach is used to obtain the joint angles. But as stated in the introduction inverse
kinematics is more difficult problem than forward kinematics as its include much complexity.
The relationship between forward and inverse kinematics is shown in Figure 1. In general there
are two main solution techniques for inverse kinematics problem one is analytic approach and
other is numerical method. Analytic approach comprises of geometric and algebraic solutions in
which joint variables are solved analytically according to given configuration data.
Fig. The schematic representation of forward and inverse kinematics.
Solving the problem of finding the required joint angles to place the tool frame, {T}, relative to
the station frame, {S}, is split into two parts. First, frame transformations are performed to find
the wrist frame, {W}, relative to the base frame, {B}, and then the inverse kinematics are used to
solve for the joint angles.
Procedure:
1. To carry out the inverse kinemtics click on the “IKIN” button.

2. A new window will open where we need to select the desired robot.
3. Select the desired robot for which the inverse kinematics need to be done in the
select window by clicking on the desired degree of freedom, the types of robot
and load it by pressing the green tick.
4. Once the robot is loaded the DH parameters table for the robot is visible, i.e. Joint
offset, link length, twist angle.
5. The values which are fixed are not editable and the others can be changed on the
type of link or joint.
6. If required input the desired Joint offset, link length, twist angle.
7. The x,y,z coordinates need to be entered for the desired position where the end
effector needs to reach.
8. Orientation of the desired end effector for the particular end effector can also be
edited and changed as per the n,o,a orientation matrix.
9. We can see that there are certain solution windows already visible which depicts
the solution w.r.t. the desired orientation and position.
10. Press the IKin and we can see the desired solutions which are a set of angles/link
length for the robot to obtain the desired posision.
Observation:
1. By clicking on the “show” button below each solution we can see the orientation
configuration of the robot for the desired result.
2. Pictures of each solution window and the robot screenshot need to be taken as the
solution for the inverse kinematics of a given robot.
Conclusion:
In this lab, we learned how to perform the inverse kinematics of a robot using the RoboAnalyzer
software. We also observed the effect of changing the joint angles and DH parameters on the
position and orientation of the end-effector. The inverse kinematics is an important tool for
determining the solution for joint orientation for the desired end effector position and orientation
which is essential for tasks such as trajectory planning and motion control.
Experiment 5
Aim: Make a 3R robot and simulate its motion.
Equipment Needed:
 Computer with RoboAnalyzer software installed
Procedure:
1. Open RoboAnalyzer software and create a new project.

2. Select the "Robot" option from the "Model" menu, and then select "3R Robot."
3. Use the "Link Properties" tool to specify the length and other properties of each link in
the robot. For a 3R robot, you will typically have three links, each with a different length.
4. Use the "Joint Properties" tool to specify the type of joint for each link. For a 3R robot,
you will typically use revolute joints for the first and second links, and a prismatic joint
for the third link.
5. Use the "Simulation" tool to simulate the motion of the robot.You can also specify the
start and end points of the motion.
6. Use the "Fkin” and “IDyn” Analysis tool to analyze the performance of the robot. You
can evaluate the kinematics dynamics of the robot, and identify any areas where
improvements can be made. For example, you can analyze the torque and force
requirements for each joint, and identify any areas where the robot may be experiencing
excessive wear and tear.
7. Plot the graphs for Joint Velocity, Joint Acceleration, Force/Torque.
Viva Voce
1. What is a 3R robot?
2. What is the kinematics analysis of a 3R robot?
3. How is the forward kinematics of a 3R robot calculated?
4. What is inverse kinematics for a 3R robot?
5. How is the dynamic analysis of a 3R robot performed?

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Experiment 4

Fig. The schematic representation of forward and inverse kinematics.

1. To carry out the inverse kinemtics click on the “IKIN” button.

 Computer with RoboAnalyzer software installed

1. Open RoboAnalyzer software and create a new project.

2. What is the kinematics analysis of a 3R robot?

3. How is the forward kinematics of a 3R robot calculated?

4. What is inverse kinematics for a 3R robot?

5. How is the dynamic analysis of a 3R robot performed?

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