Semester II, Academic year 2022-2023
Term project
Consider a KUKA industrial robot. Please use the last digit of your student ID to find the robot
assigned to you. For example, you can come to the folder "Technical manuals of robots," the robot
types are listed from 0 to 9, and pick the number same at the last digit of your student ID. Then,
with the KUKA robot assigned, please do the following.
1) Based on the technical manuals, describe the main specifications of the robot, which include
workspace, accuracy, payload, the maximum travel speed of the end effector, and the
communication with other systems.
2) Derive the forward kinematics of the robot
a. Assign the coordinate by using the D-H convention.
b. Describe the D-H table.
c. Derive the homogeneous transformation matrices of consecutive coordinates and the
homogeneous transformation matrix from the final link coordinate o the world
coordinate.
3) Using the Robotics Toolbox
a. Declare the robot (define robot by declaring some parameters)
b. "Prinf" the homogeneous transformation matrices of consecutive coordinates and the
homogeneous transformation matrix from the final link coordinate o the world
coordinate.
c. Compare the results with the one yielded by Question 2.
4) Verify the forward kinematics of robot position by using the Robotics Toolbox performed 2)
and 3) with three cases. The position of the robot for each case should be plotted.
5) Pick up a point and a vector (for the direction of the end effector). Using this data and the
Robotics Toolbox, solve the inverse kinematics of the robot. Verify the correctness of the
solution with the forward kinematics (using Robotics Toolbox again).
Hint: You can follow the technical report "Modeling and Control of a Bending Backwards
Industrial Robot".
Nguyen, Quoc Chi – Mechatronics Dept., Ho Chi Minh City Univ. of Tech.