Introduction to Robotics
Evaluation 4
Introduction to Robotics
Aadharsh Aadhithya - CB.EN.U4AIE20001
Anirudh Edpuganti - CB.EN.U4AIE20005
Madhav Kishor - CB.EN.U4AIE20033
Onteddu Chaitanya Reddy - CB.EN.U4AIE20045
Pillalamarri Akshaya - CB.EN.U4AIE20049
Team-1
Introduction to Robotics
Question 1
Elaborate and clearly explain standard DH parameters with examples of robot configurations taught in class
(i) 3R spatial Robot
(ii) SCARA Robot(4 DOF)
For the above cases do the comparison between standard DH parameters and modified DH parameters and point out the differences
Introduction to Robotics
Question 1
DENAVIT - HARTENBERG
(D-H) Parameters
DENAVIT - HARTENBERG
(D-H) Parameters
DENAVIT - HARTENBERG
(D-H) Parameters
: angle between
and
axes about the
axis
DENAVIT - HARTENBERG
(D-H) Parameters
: distance from origin to
axis
along
DENAVIT - HARTENBERG
(D-H) Parameters
: distance between
axis
along
and
DENAVIT - HARTENBERG
(D-H) Parameters
: angle between
axis
along
and
DENAVIT - HARTENBERG
(D-H) Parameters
The homogeneous transformation is represented as
MODIFIED DENAVIT - HARTENBERG
(MDH) Parameters
MODIFIED DENAVIT - HARTENBERG
(MDH) Parameters
Basic difference
MODIFIED DENAVIT - HARTENBERG
(MDH) Parameters
Basic difference
MODIFIED DENAVIT - HARTENBERG
(MDH) Parameters
The homogeneous transformation is represented as
Introduction to Robotics
Question 1
3R Spatial Robot
DH
MDH
Introduction to Robotics
Question 1
SCARA Robot
DH
MDH
Introduction to Robotics
Question 2
Even though obsolete, one of the famous and well-studied industrial robot arm is PUMA-560 by Unimation company. The MDH parameter calculation of PUMA-560 will be discussed in class. Calculate the standard DH parameter by hand for PUMA 560. Compare the DH and MDH parameter table with those obtained from python and matlab robotic toolbox. Do the forward kinematics operation of PUMA 560 for atleast 3 joint configurations of the robot.
Introduction to Robotics
Question 2
Introduction to Robotics
Question 2
DH
MDH
Introduction to Robotics
Question 3
Panda by Franka-Emika is a redundant (7R configuration) robot (short form for collaborative robot) like a human arm. Repeat the exercise in problem 3 for Panda robot as well.
DH
MDH
Introduction to Robotics
Question 4
Introduction to Robotics
6 DOF Robots
Introduction to Robotics
7 DOF Robots