MATLAB: Homogenous Transformations

Creating a MATLAB script to compute homogenous transformations and DH parametrisation for a 3-DOF manipulator

Jamie Ashton

Following Follow project

Liked Like project

Become a Hackaday.io member

Just one more thing

To make the experience fit your profile, pick a username and tell us what interests you.

OK, I'm done! Skip

Similar projects worth following

0 comments

0 followers

2 likes

Description
Details
Files 0
Components 0
Logs 1
- View all
Instructions 0
Discussion 0

View Gallery

Description

As part of a Kinematics and Dynamics coursework that involved a 3-DOF elbow manipulator model in MapleSim, I created a MATLAB script to compute all homogenous transformations for the robot, and to compute its end-effector position. The outcome of this was to be able to compare the computed end-effector positions relative to the world-frame with those simulated in MATLAB.

This project served to deepen my understanding of kinematics and robotics, and to strengthen my skills in MATLAB, particularly in function syntax and matrix calculations. I aim to add functions to compute forward and inverse kinematics in given time.

Project Logs

Collapse

Script v1: Computing Homogenous Transformations and End-Effector Position
Jamie Ashton • 6 days ago • 0 comments

The script:

Example Output:
This script allows for successful calculation of homogenous transformations between each link at three different specified times, and allows the user to input 3 DH parameters. This script satisfies the requirements of my lab report. Next steps would be to allow the user to input all DH parameters and find end-effector positions at specific times.