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    Robotics Lab

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    Abdul Moiz Qarni
    This lab report discusses rigid motions and homogeneous transformations in robotics. The objective is to determine the rotation matrix and verify the Euler angles using the inverse method for a given ZYZ Euler angle transformation. The solution shows generating the rotation matrix, plotting it, and using the inverse transformation to verify the Euler angles. Code is provided to calculate the rotation matrix and Euler angles using the Robotics Toolbox in MATLAB. The lab helps understand important principles of robotics including Euler transformations and inverse Euler methodology.

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    Robotics Lab

    Uploaded by

    Abdul Moiz Qarni
    29 views7 pages
    This lab report discusses rigid motions and homogeneous transformations in robotics. The objective is to determine the rotation matrix and verify the Euler angles using the inverse method for a given ZYZ Euler angle transformation. The solution shows generating the rotation matrix, plotting it, and using the inverse transformation to verify the Euler angles. Code is provided to calculate the rotation matrix and Euler angles using the Robotics Toolbox in MATLAB. The lab helps understand important principles of robotics including Euler transformations and inverse Euler methodology.

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    Lab6

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    This lab report discusses rigid motions and homogeneous transformations in robotics. The objective is to determine the rotation matrix and verify the Euler angles using the inverse method for a given ZYZ Euler angle transformation. The solution shows generating the rotation matrix, plotting it, and using the inverse transformation to verify the Euler angles. Code is provided to calculate the rotation matrix and Euler angles using the Robotics Toolbox in MATLAB. The lab helps understand important principles of robotics including Euler transformations and inverse Euler methodology.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    29 views7 pages

    Robotics Lab

    Uploaded by

    Abdul Moiz Qarni
    This lab report discusses rigid motions and homogeneous transformations in robotics. The objective is to determine the rotation matrix and verify the Euler angles using the inverse method for a given ZYZ Euler angle transformation. The solution shows generating the rotation matrix, plotting it, and using the inverse transformation to verify the Euler angles. Code is provided to calculate the rotation matrix and Euler angles using the Robotics Toolbox in MATLAB. The lab helps understand important principles of robotics including Euler transformations and inverse Euler methodology.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 7

    Robotics Lab

    Lab Report # 6
    Submitted to: Engr. Shehbaz Khan
    Submitted by: Abdul Moiz Qarni
    Section: A
    Registration # 17PWMCT0564
    Due Date: 27th January 2021

    University of Engineering & Technology


    Peshawar

    1
    Contents
    Introduction .................................................................................................................................... 3
    Objective ......................................................................................................................................... 3
    Solution ........................................................................................................................................... 3
    Conclusion ....................................................................................................................................... 6
    References ...................................................................................................................................... 7

    2
    Rigid Motions and Homogeneous
    Transformation
    Introduction
    In robotics, the orientation of a robotic system can be represented in mathematical terms using
    rotation matrices. Rotation matrices transform the coordinate axes (e.g. x, y, and z)
    representing the orientation of a 3D object in one frame to the coordinate axes of another
    frame. These matrices can help us determine how the end effector of a robot changes its
    orientation due to changes in a robotic arm’s angle [1]
    These matrix manipulation can very well be doing by hand using basic mathematics but gets
    impractical in practice, therefore we can use premade toolboxes such as “Robotics, Vision and
    Control” toolbox, which is an add-on in Matlab, developed by Peter Corke. [2]

    Objective
    The main objective of this lab is to with the given information about rotational transformation
    matrices, find out:

     The Rotation Matrix? Also after finding it verify the Euler angles using the inverse
    method
     Write down the Matlab command for the Rotation Matrix as well as Euler Angle

    Solution
    First of all let’s consider the information given where we are given a ZYZ Euler angle
    transformation in which rotation is carried around Z axis with an angle of π/2, around Y axis,
    with an angle of π/4 and then again around Z axis with an angle of π/2.
    This information is to be used in attempt to solve the problems.

     Part 1:

    3
    Figure 1 Rotational Matrix

    4
    Figure 2 Inverse Euler to Prove

    5
     Part 2:
    Part 2 deals with Matlab part of the program, so let’s take it to Matlab.
    startup_rvc
    R = eul2r(pi/2,pi/4,pi/2);
    B = rotx(0);
    trplot(R, 'frame','R')
    tranimate(R, 'frame','R')
    hold on
    trplot(B, 'color','black','length',0.5,'frame','Base')
    Y = tr2eul(R)

    This code snippet will displays us the transform with respect to the base frame as shown in the
    figure below.

    Figure 3 Matrix transform

    Conclusion
    This lab aids in understanding one of the very important principles of robotics which is Euler
    principles. In this lab one focuses and practices this aspect of robotics, and its sub topics such as
    inverse Euler methodology and Euler angles.

    6
    References

    [1] [Online]. Available: https://automaticaddison.com/how-to-find-the-rotation-matrices-for-


    robotic-arms/.

    [2] [Online]. Available: https://petercorke.com/toolboxes/robotics-toolbox/.

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