UNIVERSIDAD DE LAS FUERZAS ARMADAS ESPE

EXTENSIN LATACUNGA

DEPARTAMENTO DE ELCTRICA Y ELECTRNICA

CARRERA DE INGENIERA EN ELECTROMECNICA

ROBTICA INDUSTRIAL

NIVEL: VII

AUTOR:
Andrade Mantilla Antony Alexander

TUTOR:
Ing. Fausto Acua

Latacunga, julio 2016

Cinemtica Inversa
Se debe analizar la cinemtica inversa para el robot IRB 140. En este caso, existen 8 diferentes
soluciones para llegar a la posicin/orientacin del efector final en el espacio. Analizar cul de
las soluciones q permite llegar a la misma posicin/orientacin en el espacio (la misma matriz
homognea T).
>> pwd
ans =
D:\ESPE\7 Sptimo Nivel\Robtica Industrial\arte

>> init_lib

>> robot=load_robot('ABB', 'IRB140');

>> T=directkinematic(robot,[pi/3 2 pi/4 0.2 pi/5 pi/6])

T=
-0.4088 -0.7041 -0.5807 -0.0171
0.5504 0.3173 -0.7722 -0.0145
0.7280 -0.6353 0.2578 0.0864
0

1.0000

>> qinv=inversekinematic(robot, T)
qinv =

Columns 1 through 6

Columns 7 through 8

1.0472 1.0472 1.0472 1.0472 -2.0944 -2.0944

-2.0944 -2.0944

2.0000 2.0000 -1.7967 -1.7967 2.3075 2.3075

-1.5571 -1.5571

0.7854 0.7854 -3.9270 -3.9270 0.7274 0.7274

-3.8690 -3.8690

-2.9416 0.2000 -2.7595 0.3821 2.4936 -0.6480

0.1299 -3.0117

-0.6283 0.6283 -2.8231 2.8231 -2.9469 2.9469

-1.1230 1.1230

-2.6180 0.5236 -2.0909 1.0507 0.0473 -3.0943

-2.5120 0.6296

>> T=directkinematic(robot,qinv(:,1))

T=directkinematic(robot,qinv(:,5))

T=

T=

-0.4088 -0.7041 -0.5807 -0.0171

-0.4088 -0.7041 -0.5807 -0.0171

0.5504 0.3173 -0.7722 -0.0145

0.5504 0.3173 -0.7722 -0.0145

0.7280 -0.6353 0.2578 0.0864

0.7280 -0.6353 0.2578 0.0864

1.0000

1.0000

T=directkinematic(robot,qinv(:,2))

T=directkinematic(robot,qinv(:,6))

T=

T=

-0.4088 -0.7041 -0.5807 -0.0171

-0.4088 -0.7041 -0.5807 -0.0171

0.5504 0.3173 -0.7722 -0.0145

0.5504 0.3173 -0.7722 -0.0145

0.7280 -0.6353 0.2578 0.0864

0.7280 -0.6353 0.2578 0.0864

1.0000

1.0000

T=directkinematic(robot,qinv(:,3))

T=directkinematic(robot,qinv(:,7))

T=

T=

-0.4088 -0.7041 -0.5807 -0.0171

-0.4088 -0.7041 -0.5807 -0.0171

0.5504 0.3173 -0.7722 -0.0145

0.5504 0.3173 -0.7722 -0.0145

0.7280 -0.6353 0.2578 0.0864

0.7280 -0.6353 0.2578 0.0864

1.0000

1.0000

T=directkinematic(robot,qinv(:,4))

T=directkinematic(robot,qinv(:,8))

T=

T=

-0.4088 -0.7041 -0.5807 -0.0171

-0.4088 -0.7041 -0.5807 -0.0171

0.5504 0.3173 -0.7722 -0.0145

0.5504 0.3173 -0.7722 -0.0145

0.7280 -0.6353 0.2578 0.0864

0.7280 -0.6353 0.2578 0.0864

1.0000

1.0000

*Todas las trasformaciones provocan los mismos resultados, lo que indica que todas las
soluciones conllevan al mismo punto.

Dinmica directa
Simulado el modelo de dinmica directa de un brazo planar de 3 grados de libertad empleando
posiciones, velocidades y torques iniciales.

fprintf('\nTHE SIMULATION PRESENTS THE ROBOT AT AN INITIAL POSITION

WHEN TORQUES ARE APPLIED\n')
%load robot parameters
robot=load_robot('example', '3dofplanar');
%simulate for 50 seconds, change this depending on your computer speed
and
%the total time that you want to simulate
total_simulation_time = 10;
%initial position and joint speed
q0 = [pi/3 pi/4 pi/5]';
qd0 = [1 0.7 0.4]';
drawrobot3d(robot, q0);
adjust_view(robot);
%in this case you may one of the next two lines, that define
%the gravity acting along the Y axis or the Z axis, respectively.
g=[0 -9.81 0]'; %y axis
%g=[0 0 9.81]'; % Z axis
%tau = [3 2 1]';
tau = [4 2 1.3]';%torques applied
%select friction or not
robot.dynamics.friction = 0;
fprintf('\nCOMPUTING FORWARD DYNAMICS (this may take a while)')
%this may take a while, since it requires integration
%of the acceleration at each time step
[t q qd] = forwarddynamic(robot, total_simulation_time, q0, qd0, tau,
g, []);
%animate it!!
animate(robot, q)
figure, plot(t, q), grid, title('Position vs. time')
xlabel('time (s)'), ylabel('Position (rad)')
legend('q_1', 'q_2', 'q_3', 'q_4', 'q_5', 'q_6');
figure, plot(t, qd), grid, title('Speed vs. time')
xlabel('time (s)'), ylabel('Speed (rad/s)')
legend('qd_1', 'qd_2', 'qd_3', 'qd_4', 'qd_5', 'qd_6');

Posicin del brazo (pasado 10 segundos de simulacin)

Posicin en radianes de los parmetros articulares del brazo en funcin del tiempo

Velocidad en radianes/s de los parmetros articulares del brazo en funcin del tiempo