University of Engineering & Technology
LAB NO. 2
LAB NO. 2
Conduct and Experiment on Representing of the position and the orientation of a robot.
OBJECTIVES:
•
•
To learn about the position and orientation.
To learn how to use the Robot Tool Box.
INTRODUCTION:
The Robotics Toolbox is MATLAB toolbox software that supports research and teaching into arm-type and
mobile robotics. While the Robotics Toolbox is free software, it requires the proprietary MATLAB
environment in order to execute. A subset of functions have been ported to GNU Octave and Python. The
Toolbox provides functions for manipulating and converting between datatypes such as vectors,
homogeneous transformations, roll-pitch-yaw and Euler angles, axis-angle representation, unitquaternions, and twists, which are necessary to represent 3-dimensional position and orientation. It also
plots coordinate frames, supports Plücker coordinates to represent lines, and provides support for Lie
group operations such as logarithm, exponentiation, and conversions to and from skew-symmetric matrix
form.
ORIENTATION:
Orientation is the angle of Robot in the Frame.
POSITION:
Position is the location of robot in a frame.
POSE:
Position and Orientation of a robot both make the pose of a robot.
PROCEDURE:
1. Open MATLAB and then open the Robot tool box in MATLAB.
2. Run the script file for the robot tool box.
3. Then open another script file and write a Program for the position and orientation of the robot.
4. Now go to Editor and run the script file. Come back to the command window and input values. In this
Example we will use Q= 45 degrees, X-axis=3, y-axis=5. The result is then displayed in the command
window.
>> lab2
enter the value of the angle(Q):
45
enter the value of the x:
3
enter the value of the y:
5
pb =
-1.4142
5.6569
ans =
-1.4142
5.6569
CONCLUSION:
In this lab we got ourselves familiarized with the use of Robot Tool box and also learned about the position
and orientation of the robot. We also created a script file for the position and orientation and used
random parameters to solve the problem.
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