To develop a program in MATLAB and derive forward kinematics of any general 'n' link serial...

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To develop a program in MATLAB and derive forward kinematics of any general 'n' link serial manipulator

Robert · Accepted Answer

ASSIGNMENT REPORT

ASSIGNMENT 
REPORT
To develop a computer program in MATLAB and derive forward 
kinematics of any ‘n’ link general serial manipulator 
Principles of 
Robotics 
Engineering 
(UME838) 
Submitted by: Saurabh Gupta (101309027) 
Submitted to: Dr. Ashish Singla 
Page | 1
Table of Contents 
Calculation for PUMA 560 Manipulator ............................................................................... 2 
MATLAB code and analysis for kinematics of PUMA 560 Manipulator........................... 6 
Program .................................................................................................................................. 6 
Inputs ...................................................................................................................................... 7 
Outputs ................................................................................................................................... 9
Page | 2
CALCULATION FOR 
PUMA 560 MAIPULATOR
The Unimation PUMA 560 (Fig. 1) is a robot with six degrees of freedom and all rotational 
joints (i.e., it is a 6R mechanism). 
It is shown in Fig. 2,

To develop a program in MATLAB and derive forward kinematics of any general 'n' link serial manipulator

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