Universidad Nacional Hermilio

Valdizán de Huánuco

Ingeniería Industrial
Curso: Manufactura Integrada por Computador

Dr. Ing. Aland Bravo Vecorena

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http://petercorke.com/wordpress/toolboxes/robotics-toolbox
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% Calculate x(t), with x varying from -2 to +3 and t varying from 0 to 1 in 10 steps.
% Store the time vector in t1 and calculated trajectory in variable x1.
t1=linspace(0,1,10)
%x1 =tpoly(-2,3,t1)'
A=-2
B=3
x1 = A + (B - A) * t1
% Repeat this step for 100 time steps.
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% Store the time vector in t2 and calculated trajectory in variable x2.
t2=linspace(0,1,100)
%x2 =tpoly(-2,3,t2)'
A=-2
B=3
x2 = A + (B - A) * t2
% Modify to achieve the same motion over 5 seconds (still using 100 steps).
% Store the time vector in t3 and calculated trajectory in variable x3.
t3 = 5*linspace(0,1,100)
x3 =tpoly(-2,3,t3)'
%A=-2
%B=3
%x3 = A + (B - A) * t3
% Using the tpoly function plot x(t) against t for a motion from -2 to +3 over 5 seconds in 100 time step
% Store the time vector in tpoly and calculated trajectory in variable xpoly.
tp =5*linspace(0,1,100)
xp =tpoly(-2,3,tp)'
%A=-2
%B=3
%xp = A + (B - A) * tp
% To visualise the resulting trajectory, uncomment the following line of code.
plot(tp,xp);
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%% Provided variables
a1 = 0.8; a2 = 0.3;
pA = [0 2];
pB = [3 0];
% For each position pA and pB determine the corresponding joint angles
% qA and qB using inverse kinematics.
qA =
qB =
% Try using forward kinematics to check that the joint configurations
% Compute a joint interpolated trajectory between qA and qB in fifty times
% steps over 10 seconds using the jtraj function as discussed previously.
% Store this in the variable qtraj.
qtraj =
% Compute the forward kinematics for every point along the joint trajectory qtraj.
x=
y=
% If you have correctly computed the end-effector trajectory, you can visualise it using
% figure; plot(x,y)
% xlabel('x'); ylabel('y'); grid on
%% Provided variables
a1 = 0.8; a2 = 0.3;
pA = [0 2];
pB = [3 0];
% Codigo personalizado
syms q1 q2
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aArm1=a1; aArm2=sqrt(a2^2+q2^2)
qArm1=pi/2+q1; qArm2=-atan(q2/a2);
E=trchain2('R(qArm1) Tx(aArm1) R(qArm2) Tx(aArm2)', [qArm1 qArm2])
% For each position pA and pB determine the corresponding joint angles
% qA and qB using inverse kinematics.
%qA =
x=pA(1); y=pA(2);
qArm2=-acos((x^2+y^2-aArm1^2-aArm2^2)/(2*aArm1*aArm2));
qArm1=atan(y/x)+atan((aArm2*sin(qArm2))/(aArm1+aArm2*cos(qArm2)));
qA_xy = [qArm1-pi/2 a2*tan(qArm2)]
q1=0; q2=1.2;
qA=eval([qA_xy(2) qA_xy(1)])
subs(qA)
%qB =
syms q1 q2
aArm1=a1; aArm2=sqrt(a2^2+q2^2)
qArm1=pi/2+q1; qArm2=-atan(q2/a2);
E=trchain2('R(qArm1) Tx(aArm1) R(qArm2) Tx(aArm2)', [qArm1 qArm2])
x=pB(1); y=pB(2);
qArm2=-acos((x^2+y^2-aArm1^2-aArm2^2)/(2*aArm1*aArm2));
qArm1=atan(y/x)+atan((aArm2*sin(qArm2))/(aArm1+aArm2*cos(qArm2)));
qB_xy = [qArm1-pi/2 a2*tan(qArm2)]
q1=5*pi/4; q2=3.2;
qB=eval([qB_xy(2) qB_xy(1)])
subs(qB)
%% Store this in the variable qtraj.
qtraj =jtraj(qA, qB, 50)
% Compute the forward kinematics for every point along the joint trajectory qtraj.
x = qtraj(:,1)
y = qtraj(:,2)
% If you have correctly computed the end-effector trajectory, you can visualise it using
figure; plot(x,y)
xlabel('x'); ylabel('y'); grid on
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% Provided variables
a1 = 0.8; a2 = 0.3;
pA = [0 2];
pB = [3 0];
% Compute the robot end-effector position between point pA to point pB
% using Cartesian interpolation in 50 steps over 10 seconds.
P=
% For each position along the end-effector trajectory determine the
% corresponding joint angles using inverse kinematics. Store the joint 1
% values in column 1 and the joint 2 values in column 2 of the variable qtraj.
qtraj =
% If you have correctly computed the joint trajectories, you can visualise these with
% figure; plot(linspace(0,10,50),q)
% xlabel('t'); ylabel('q'); grid on
% Using the forward kinematic equations compute the end-effector position for
% every point along the joint trajectory you just computed. Store the x values
% of the end-effector's trajectory in the vector x and the y values in the vector y.
x=
y=
% If you have correctly computed the end-effector trajectory, you can visualise it using
% figure; plot(x, y)
% xlabel('x'); ylabel('y'); grid on
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Promedio de Nota del Curso: (EP+EF+PP+PFC)/4

Promedio de Prácticas (PP):

 TAREA 1: Electroneumática
 TAREA 2: PLCs
 TAREA 3: Fundamentos de Robótica (Opcional)
 TAREA 4: Robótica Aplicada

Exámen Parcial (EP)

Exámen Final (EF)

Proyecto de Fin de Curso (PFC)

 SCADA con PLC
 Factory IO con PLC Siemens
 Robótica con MITSUBISHI-FESTO-COSIMIR/MATLAB
 Grupos de Investigación
 G1: Automatización SCADA con PLCs de
las Estaciones de Trabajo del Laboratorio
CIM.
 G2: Automatización de una Fábrica en 3D
con Factory I/O para Cadenas Productivas
de la Región Huánuco.
 G3: Modelado y Control de Trayectorias del
Robot SCARA en MATLAB / CIROS.
 Universidad Nacional Hermilio
Valdizán de Huánuco

Ingeniería Industrial
Curso: Manufactura Integrada por Computador

Dr. Ing. Aland Bravo Vecorena