ENT372 Robotics

Laboratory Module

Demo & QA
[30 marks]
Lab Report
[30 marks]
TOTAL
[60 marks]

LABORATORY MODULE
ENT 372 / 4

ROBOTICS
EXPERIMENT 3
Basics of Trajectory Planning for Robot Arm
with Matlab

LECTURER

: DR. MUHAMMAD JUHAIRI AZIZ SAFAR

PM. DR. WAN KHAIRUNIZAM WAN AHMAD

PLV

: MR. WAN MOHD NOORIMAN WAN YAHYA

MR. ERDY SULINO MOHD MUSLIM TAN

TECHNICIAN

: MR. MOHD AL HAFIZ

GROUP

:____________

NAME:
1)_____________________________
DATE

:____________

1 / 10

MATRIC NO:
__________________

ENT372 Robotics
Laboratory Module

EXPERIMENT
Basics of Trajectory Planning for Arm Robot with Matlab

1. OBJECTIVES:
1.1 To understand the basic principle of robot arm.
1.2 To understand the kinematics and simulate using Matlab.

2. COMPONENTS & EQUIPMENTS:

1 Desktop Computer with Matlab

2 / 10

ENT372 Robotics
Laboratory Module

3. TRAJECTORY PLANNING FOR ROBOT ARM:

3.1 Introduction
Trajectory planning relates to the way a robot is moved from one location to another in a
controlled manner. A trajectory contains a sequence of movements between motion
segments, in straight-line motions, or in sequential motions. Trajectory planning requires
the use of both kinematics and dynamics of robots.
3.2 Kinematics
The kinematics of a robot can be solved using numerical or analytical approach. The
forward kinematics will enable us to determine where the robots end (hand) will be if all
joint variables are known. Inverse kinematics will enable us to calculate what each joint
variable must be if we desire that the hand be located at a particular point and have a
particular orientation.
Figure 1 shows a general structure for a three degrees of freedom (3-DOF) planar arm
robot.

Figure 1. 3-DOF Planar Arm Robot

The geometrical approach to solve the inverse kinematics are as follows:

The position of C can be written as

b = x l3 cos

(1)

a = y l3 sin

(2)

Therefore, the angleof

OC to the X -axis is

a
b

y l3 sin
1
= tan
x l3 cos

= tan1

The inner angle of OAC

and OBCare

= cos1

l12 + c2 l22
2l1 c

(3)

(4)

3 / 10

ENT372 Robotics
Laboratory Module

= cos

l12 + l22 c2
2l1l2

(5)

where,

c=

a2 + b2

Thus, the joint angles can be obtained as

1 =

(6)

2 = ( )

(7)

3 = 1 2

(8)

3.3 Basics Trajectory Planning

If the trajectory is a straight line and the division number of approximation calculation as
N, the changes in the variables can be calculated as

xf xi
N
yf yi
y =
N
f i
=
N

(9)

x =

(10)
(11)

where, i and f are referring to the initial and final position of the trajectory. Thus, the
orientation and position of the joints can be determined by replacing back the value into
forward and inverse kinematics equations.

4 / 10

ENT372 Robotics
Laboratory Module

4. PROCEDURE:
Task: Simulate a two degrees of freedom (2-DOF) planar arm robot as shown in Figure
2. The required trajectory will be provided during laboratory session.

Figure 2. 2-DOF Planar Arm Robot

4.1 Forward and Inverse Kinematics
Solve the forward and inverse kinematics using geometrical approach.

5 / 10

ENT372 Robotics
Laboratory Module

6 / 10

ENT372 Robotics
Laboratory Module

4.2 Programming
#

Program

Description

7 / 10

ENT372 Robotics
Laboratory Module

Instructor Approval: .

8 / 10

Date:

ENT372 Robotics
Laboratory Module

5. RESULTS
Sketch the results.

6. DISCUSSION

9 / 10

ENT372 Robotics
Laboratory Module

7. CONCLUSION

Instructor Approval: .

10 / 10

Date: