20PWMCT0732 Lab#3

1|Page
DEPARTMENT OF MECHATRONICS ENGINEERING

UNIVERSITY OF ENGINEERING & TECHNOLOGY, PESHAWAR
Robotics MtE-405L, 7th Semester
Student Name: Imad Ahmad
Reg No: 20PWMCT0732
Instructor Name: Dr. Riaz Akbar Shah
Submission Date: October 5, 2023
Lab No 3: Spatial Description And Rotation Along Axis And Transformational

Matrices
Lab Rubrics:
BelowBasic (1)
Criteria Excellent (4) Proficient (3) Basic (2) Student’s
Score
Report is mostly
Report is
as per the disorganized
Report is as per Sections/Steps
the guidelines. guidelines and and follows are not ordered
To organize the All most some and Report is
lab report and sections/steps sections/steps guidelines not as per the
practice are clearly are ordered well but most of guidelines
th e writing skills organized in a but requires the guidelines
as per the logical order. minor are missing
guidelines improvements.
The report
completely The report
discusses the discusses the The report The report is
required task in required task discusses the totally irrelevant
own words with lab work but to the lab work
To discuss the some relevant have
actual additional irrelevant
information information
task
Calculations Calculations and Most data and Calculations and

and data analysis observations data analyses of
were performed were lab were missing
data analyses accurately, but recorded
To perform minor errors adequately,
calculations and were performed were made both but with
data analysis clearly, in calculations several
and in applying significant
concisely, and
correct units errors
accurately, with
or omissions.
Course Instructor: Dr. Riaz Akbar Shah
correct
units.
Graphs, if Graphs, if Graphs, if Major

necessary, were necessary, were necessary, components of
drawn drawn were drawn but lab
To present results accurately and adequately inadequately. were
in the form of neatly and were missing
graphs clearly labelled.

2|Page
Table of Contents
Contents
Objectives..............................................................................................................................................................
Theory....................................................................................................................................................................
Types of Robotic Arm...........................................................................................................................................
Lab-Volt Automation 5250-A0 Servo Robot Training System.............................................................................
ProArm RS2200 Robot by Marcraft Int ................................................................................................................
Mobile Robot.........................................................................................................................................................
The Khepera IV Mobile Robot..............................................................................................................................
Unimate PUMA 500..............................................................................................................................................
Pick and Place Robotic Arm..................................................................................................................................
Conclusion............................................................................................................................................................
References.............................................................................................................................................................

3|Page
Lab No: 3 Spatial Description And Rotation Along Axis And Transformational
Matrices
Objectives:
 To become familiar with a vector's location in space.
 Also to become acquainted with determining the vector's orientation in space.
 Gain knowledge of how one vector is projected onto another.
 Learn how to rotate in combination along two axes as well.
 To learn about rotation of two axes with respect to the third frame.
 To learn about the spacial descriptions and transformational matrices.
Theory:
Theory What Is Spacial Discriptioin:
In robotics, "spatial description" refers to the representation of an object's or entity's orientation and
position in a real or virtual space. It uses for defining the orientation and three-dimensional a coordinate
system.
What Is The Projection Of Vector On Another.

It is the part of a vector that points in the opposite direction of another vector. Simply, it indicates the
extent to which one vector points in the same direction as the other. The dot product and vector arithmetic can
be used to compute proj_B(A), which is the projection of vector A onto vector B. This is the equation:
proj_B(A) = (A · B) /|A|
Orientation In A Space Of A Vector:

The orientation of a real vector space or simply orientation of a vector space is the arbitrary choice of
which ordered bases are "positively" oriented and which are "negatively" oriented. It is defining the vector in
an orientation in a space. It is the determination of the angles of the vector which it is making with the base
coordinates.

4|Page
ROTATIONAL MATRICES
ALONG X- AXIS:
ROTATIONAL MATRICES ALONG Y-

AXIS
ROTATIONAL MATRICES ALONG Z-

AXIS
Post Lab Task: Rotation Matrix in

MATLAB:
Rotation along Y-axis:
MATLAB Code:
a = roty(90);
trplot(a, 'frame', 'Rotation');

5|Page
tranimate(a , 'frame', 'Rotation');
Output:
Figure 1 Rotation of Frame about Y-axis

Rotation about Z-axis:
Matlab Code:
b = rotz(120);
trplot(b, 'frame', 'Rotation');
tranimate(b , 'frame', 'Rotation');
Output:
Rotation about X-axis:
Matlab Code:
b = rotx(150);
trplot(c, 'frame', 'Rotation');
tranimate(c , 'frame', 'Rotation');
Output:
Conclusion:
In this lab we learned about Rotation Matrix. We learned how Robots are making humans life easier.
We also studied different types of Robot. And in Robotics Lab Hall we seen different types of robots, like
mobile robot, robotic arms etc.
References:
[1] https://www.indiamart.com/proddetail/pick-place-systems-6600798248.html
[2] https://www.ebay.com/itm/293659659435

6|Page
[3] https://americanhistory.si.edu/collections/search/object/nmah_1028521
[4] %20a,dynamics%2C%20assuming%20zero%20initial%20conditions.

20PWMCT0732 Lab#3

Uploaded by

Copyright:

Available Formats

20PWMCT0732 Lab#3

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

20PWMCT0732 Lab#3

Uploaded by

Copyright:

Available Formats

1|Page

DEPARTMENT OF MECHATRONICS ENGINEERING

Student Name: Imad Ahmad

Reg No: 20PWMCT0732

Instructor Name: Dr. Riaz Akbar Shah

Submission Date: October 5, 2023

Lab No 3: Spatial Description And Rotation Along Axis And Transformational

Calculations Calculations and Most data and Calculations and

Graphs, if Graphs, if Graphs, if Major

Course Instructor: Dr. Riaz Akbar Shah

Course Instructor: Dr. Riaz Akbar Shah

What Is The Projection Of Vector On Another.

Orientation In A Space Of A Vector:

Course Instructor: Dr. Riaz Akbar Shah

ROTATIONAL MATRICES ALONG Y-

ROTATIONAL MATRICES ALONG Z-

Post Lab Task: Rotation Matrix in

trplot(a, 'frame', 'Rotation');

Course Instructor: Dr. Riaz Akbar Shah

tranimate(a , 'frame', 'Rotation');

Figure 1 Rotation of Frame about Y-axis

trplot(b, 'frame', 'Rotation');

tranimate(b , 'frame', 'Rotation');

Rotation about X-axis:

trplot(c, 'frame', 'Rotation');

tranimate(c , 'frame', 'Rotation');

Course Instructor: Dr. Riaz Akbar Shah

Course Instructor: Dr. Riaz Akbar Shah

You might also like