This homework assignment uses both robodk software and matlab software.

Question

We are to use the "UR3 Dimention.docx" file to form our reference frames and develop our denavit Hartenberg parameters and then we are asked to develop a matlab code to compare our results to the UR3 in the upright position in the picture attached.

1. Use these dimensions and develop Denavit Hartenburg parameters in a table.

and

2. Write a matlab program to move the robot to a horizontal Location with joint angles coming from your UR Do the same thing with UR3 in up right position. Compare your data with that of the UR3.

ur3-dimention-tejvmpck.docx picture1-55it20dd.jpg

Amar Kumar · Accepted Answer

Que 1: Here is the Denavit-Hartenberg parameter table for the UR3 robot arm:
	i
	
	a(i-1)
	d(i)
	
	1
	90°
	0
	38 mm
	θ1
	2
	0°
	213 mm
	0 mm
	θ2-90°
	3
	90°
	38 mm
	0 mm
	θ3
	4
	-90°
	35 mm
	192.65 mm
	θ4
	5
	90°
	0 mm
	14.65 mm
	θ5
	6
	-90°
	0 mm
	59.08 mm
	θ6
	End
	0°
	0 mm
	91.4 mm
	0°
where:
· i is the index of the link/joint
· α(i-1) is the twist angle between z(i-1) and z(i) measured about x(i-1) in degrees
· a(i-1) is the distance between x(i-1) and x(i) measured along z(i-1) in millimeters
· d(i) is the distance between z(i-1) and z(i) measured along x(i) in millimeters
· θ(i) is the rotation angle of the joint i in degrees
Note that the last row of the table represents the orientation of the end-effector relative to the base frame, which is fixed and has zero twist, zero distance, and zero rotation angle.
Que 2:
You must perform the following actions in order to create a MATLAB programme that will move the UR3 robot arm to a horizontal position with joint angles coming from your UR:

This homework assignment uses both robodk software and matlab software. We are to use the "UR3 Dimention.docx" file to form our reference frames and develop our denavit Hartenberg parameters and...

Solution

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