3PRR Planar Parallel Manipulator Analysis

KINEMATIC MODELING AND ANALYSIS OF
3-PRR PARALLEL MANIPULATOR

USING MATLAB GUI
By
PRIYANSHU AGARWAL
KUMAR VISHWAJEET
DECEMBER 2009
Department of Mechanical and Aerospace Engineering

State University of New York at Buffalo
Buffalo, New York 14260
Abstract
The analysis of 3-PRR manipulators is carried out. Forward and Inverse

pose kinematics of the manipulator is derived. The Jacobian matrix relating
the task space velocity to the join-space velocity is then symbolically
evaluated. Various algorithms are devised for implementation of
manipulability calculation, workspace evaluation and path tracking of the
manipulator. A study of the manipulability is carried out using Yoshikawa’s
Manipulability index and Condition number index. Workspace analysis is
carried out for maximal, dexterous and constant orientation type workspace.
Different types of control (open and closed loop) are implemented and
analyzed. The system is developed in the form of a MATLAB GUI.
i
Contents
Abstract

Contents
1 Introduction
1.1 Problem Formulation
1.2 Challenges Involved
1.3 Report Organization
2 Background
2.1 Workspace
2.2 Measure of Manipulability
3 Mathematical/Other methods
3.1 Kinematic Modeling
3.1.1 Forward Pose Kinematics
3.1.2 Inverse Pose Kinematics
3.2 Jacobian Matrix Evaluation
4 Implementation
4.1 MATLAB Implementation Algorithms
4.1.3 Manipulator Parameters Variation
4.1.4 Yoshikawa’s/Condition Number Manipulability Index
4.1.5 Workspace Analysis
4.1.5.1 Maximal Workspace
4.1.5.2 Dextrous Workspace
4.1.5.3 Constant Orientation Workspace
4.1.6 Path Tracking
4.2 Development of MATLAB program and GUI
5 Results
5.1 Manipulability Analysis
5.2 Workspace Analysis
5.3 Path Tracking Analysis
ii
6 Discussion

Bibliography

Appendix

A.1 MATLAB code for the Forward Kinematics of the 3‐PRR Planar
Parallel manipulator

A.2 MATLAB code for the Inverse kinematics of the 3‐PRR Planar
A.3 MATLAB code for the Manipulator display of the 3‐PRR Planar

A.4 MATLAB code for the Manipulator display of the 3‐PRR Planar
Parallel manipulator along with plotting

A.5 MATLAB code for the GUI of the 3‐PRR Planar Parallel manipulator

iii
Chapter 1
Introduction
1.1 Problem Formulation
Figure 1-1 Different configurations of the 3-PRR parallel manipulator
A study of one of the above illustrated 3-PRR parallel manipulators will be carried out. In case a
generalized modeling incorporating both the configurations would be feasible, it will be carried out. The
study is categorized in the following major phases:
1. Kinematic modeling of the manipulator. (Forward & Inverse Kinematics)
2. Development of MATLAB program and GUI.
3. Analysis of the manipulator for workspace, manipulability and path tracking.
1.2 Challenges Involved

The following are the challenges involved in solving the aforementioned problem:
1. Modeling the system for Forward and Inverse pose Kinematics – Considering the complexity of the
system a closed form solution might not always be possible for forward pose kinematics. In such a
case developing a robust numerical technique that can not only provide a solution but also do so in
least amount of time is needed.
2. Manipulability study – An evaluation of the Jacobian of the system is required for carrying out a
manipulability study of the system which might be challenging.
3. Workspace Evaluation – Different kinds of workspace such as maximal, dexterous and constant
orientation need solving the inverse kinematics of the system iteratively and using suitable
algorithm.
4. Path Tracking Control – Implementing control of the manipulator end effector using different types
of control techniques i.e. open loop, joint space closed loop and task space closed loop is
challenging.
1
1.3 Report Organization
Chapter 1 deals with the overview of the problem addressed.
Chapter 2 deals with the background on types of workspace and measures of manipulability.
Chapter 3 deals with kinematic modeling of the manipulator.
Chapter 4 provides algorithms used for implementing the GUI.
Chapter 5 presents the results obtained from the manipulability, workspace and path tracking analysis.
Chapter 6 closes the report with a discussion.
Appendix A contains the MATLAB code for the programs and GUI used for the analysis of 3-PRR
Planar Parallel manipulator.
2
Chapter 2
Background
2.1 Workspace
The different kind of workspaces [4] that are of interest are:
1. Maximal workspace or reachable workspace: all the locations of the operating point C that may be
reached with at least one orientation of the platform.
2. Dexterous workspace: all the locations of C for which all orientations are possible. The dextrous
workspace is a particular case of total orientation workspace, the ranges for the rotation angles being
[0, 2π].
3. Constant orientation workspace or translation workspace: all possible locations of C of the robot that
can be reached with a given orientation
2.2 Measure of Manipulability

The degree of manipulability provides information about the quality of kinematic structure in executing
tasks described by the manipulation variable. [3]
The following measures of manipulability (indices) are considered in this study:

1. Yoshikawa’s Index
A scalar value w given by the following equation is called the measure of manipulability at state θ with
respect to manipulation variable X.
w= JJ T
2. Manipulability index and condition number

The condition number index is often used for parallel robots. Consider the linear system:
AX = B
for a norm we have
From which we get
This equation indicates how a relative error in B gets multiplied, and leads to a relative error in X. The
error amplification factor, called the condition number κ, is therefore defined as
κ(A) = ||A||||A−1||
For J−1, the condition number expresses how a relative error in Θ gets multiplied and leads to a relative
error in X. It characterizes in some sense the dexterity of the robot, and will be used as a performance
index. The condition number is dependent on the choice of the matrix norm. The most used norms are as
follows: − the 2-norm, defined as the square root of the largest eigenvalue of matrix J−TJ−1: the condition
number of J−1 is thus the square root of the ratio between the largest and the smallest eigenvalues of
J−TJ−1. The smallest possible value of the condition number is 1. The inverse of the condition number,
which has a value in [0,1], is also often used; a value of 0 indicates that the inverse jacobian matrix is
singular.
3
Chapter 3
Mathematical Methods
3.1 Kinematic Modeling
Objective: To develop the Kinematic Equations for 3-PRR Planar Parallel Manipulator.
Assumptions:
1. The points P11, P12 and P13 are assumed to lie on the vertices of an equilateral triangle.
2. The three connecting points on the endeffector are symmetrically placed around the end-effector
coordinate.
3. The prismatic joints are considered to be the only active joints in system.
β3
P13 (x3, y3)
θ13 d3
P23
a13 θ23
P33
δ32 a δ
θ21 δ31 23 33
a21 φe
P31
(xe, ye)
a11 a22 θ
22 θ12
P21 θ11 a12
d1 P32 d2
P22
(x1, y1) (x2, y2)
P11 P12
Y β2
β1
X
Figure 3-1 Nomenclature used in the modeling of the 3-PRR manipulator
From the above figure we have
θ 31 = ϕ e + δ 31
The forward pose kinematics problem is as follows:

Known: d1, d2 and d3
4
Unknown: θ11, θ12, θ13, xe, ye and φe
Considering the point P31 to break the loop, we have
JJJG JJG ⎡ d 1 cos β 1⎤ ⎡ a11 cos θ 11⎤

P 31 = P11 + ⎢ ⎥+⎢ ⎥
⎣ d 1 sin β 1 ⎦ ⎣ a11 sin θ 11 ⎦
Also, the coordinates of the point can be expressed in terms of end-effector coordinates.
JJJG ⎡ xe ⎤ ⎡ a 21 cos θ 31⎤
P 31 = ⎢ ⎥ + ⎢ ⎥
⎣ ye ⎦ ⎣ a 21 sin θ 31 ⎦
Equating the above equations and substituting the value of θ31 we get,
x1 + d 1 cos β 1 + a11 cos θ 11 = xe + a 21 cos (ϕ e + δ 31)
y1 + d 1 sin β 1 + a11 sin θ 11 = ye + a 21 sin (ϕ e + δ 31)
Similarly breaking the loop about points P32 and P33, we can obtain
x 2 + d 2 cos β 2 + a12 cos θ 12 = xe + a 22 cos (ϕ e + δ 32 )

y 2 + d 2 sin β 2 + a12 sin θ 12 = ye + a 22 sin (ϕ e + δ 32 )
Considering the complexity of the system obtaining a closed form solution of the system is not possible.
So, using numerical techniques the unknown quantities can be evaluated.
The inverse pose kinematics problem is as follows:
Known: xe, ye and φe
Unknown: θ11, θ12, θ13, d1, d2 and d3
Let the coordinates of the point P31 be (x31, y31) and that of P21 be (x21, y21), then
x31 = xe + a 21 cos (ϕ e + δ 31)

y 31 = ye + a 21 sin (ϕ e + δ 31)
x 21 = x31 + a11 cos (θ 21)

y 21 = y 31 + a11 sin (θ 21)
5
Now, the equation of the line passing through P11 and P21 can be expressed as
y − y1 = tan β 1( x − x1)
Since, it passes through P21, the coordinates of P21 evaluated above must satisfy this equation.
Substituting the values in the equation of the line, we get
y 31 + a11 sin (θ 21) − y1 = tan β 1( x31 + a11 cos (θ 21) − x1)
⎛ θ 21 ⎞
Now, using half-tan substitution for sin(θ21) and cos(θ21), and assuming tan ⎜ ⎟ = t , we get
⎝ 2 ⎠
( y 31 − y1)(1 + t 2 ) + 2a11t = ( x31 − x1) tan β 1(1 + t 2 ) + a11 tan β 1(1 − t 2 )
Solving the above quadratic equation for t, we get
− B ± B 2 − 4 AC
t=
2A
where,
A = ( y 31 − y1) − ( x31 − x1) tan β 1 + a11 tan β 1
B = 2a11
C = ( y 31 − y1) − ( x31 − x1) tan β 1 − a11 tan β 1
Now,
θ 21 = 2atan2(− B ± B 2 − 4 AC , 2 A)
d 1 = ( x 21 − x1) 2 + ( y 21 − y1) 2
xe + a 21 cos (ϕ e + δ 31) − x1 − d 1 cos β 1
tan θ 11 =
ye + a 21 sin (ϕ e + δ 31) − y1 − d 1 sin β 1
Similarly, θ12, θ13, d2 and d3 can be evaluated.
Hence, the inverse pose kinematics has a closed loop solution.
3.2 Jacobian Matrix Evaluation

Now, in order to calculate the Jacobian matrix, consider the equations derived for the forward pose
kinematics of the system
x1 + d 1 cos β 1 + a11 cos θ 11 = xe + a 21 cos (ϕ e + δ 31)

y1 + d 1 sin β 1 + a11 sin θ 11 = ye + a 21 sin (ϕ e + δ 31)
6
x3 + d 3 cos β 3 + a13 cos θ 13 = xe + a 23 cos (ϕ e + δ 33 )
Differentiating the above set of equations, we have

⎡1 0 − a 21 sin (ϕ e + δ 31) ⎤ ⎡cos β 1 0 0 −a11 sin θ 11 0 0 ⎤ ⎡ d1 ⎤
⎢ ⎥ ⎢ ⎥⎢ ⎥
⎢1 0 −a 22 sin (ϕ e + δ 32 ) ⎥ ⎡ xe ⎤ ⎢ 0 cos β 1 0 0 − a12 sin θ 12 0 ⎥ ⎢ d1 ⎥
⎢1 0 − a 23 sin (ϕ e + δ 33 ) ⎥ ⎢ ⎥ ⎢ 0 0 cos β 1 0 0 − a13 sin θ 13 ⎥ ⎢ d1 ⎥
⎢ ⎥ ⎢ y e ⎥ = ⎢ ⎥⎢ ⎥
⎢0 1 a 21 cos (ϕ e + δ 31) ⎥ ⎢ϕ e ⎥ ⎢ sin β 1 0 0 a11 sin θ 11 0 0 ⎥ ⎢θ 11⎥
⎢0 1 a 22 cos (ϕ e + δ 32 ) ⎥ ⎣ ⎦ ⎢ 0 sin β 2 0 0 a12 sin θ 12 0 ⎥ ⎢θ12 ⎥
⎢ ⎥ ⎢ ⎥⎢ ⎥
⎣⎢0 1 a 23 cos (ϕ e + δ 33 ) ⎦⎥ ⎣ 0 0 sin β 3 0 0 a13 sin θ 13 ⎦ ⎣⎢θ13 ⎦⎥
The above equation can be written in the form,
AX = Bθ
⇒ X = A−1 Bθ
So, J = A−1 B
7
Chapter 4
Implementation
4.1 MATLAB Implementation Algorithms
The following section presents the algorithms used to implement various features of the GUI. The
algorithms presented are self-explanatory.
Collect d1, d2, d3, xe, ye, φe,

a11, a12, a13, a21, a22, a23,
β1, β 2 and β 3 from the GUI
Consider current (xe,ye,φe) as

intial guess (x0)
If Change intial guess (x0)

counter < limit (increment counter)
Solve using FSOLVE
If solution No
exists
Yes
Return
Collect xe, ye, φe,

a11, a12, a13,
a21, a22, a23,
Solve using closed form

solution obtained
If solution No
exists
Yes Return
8 Solution doesn’t exist
Return
4.1.3 Manipulator Parameters Variation
If slider clicked
d1, d2, d3
a11, a12, a13,
a21, a22, a23,
Invoke Forward Kinematics

function
If solution No
exists
Yes Return
Configuration not possible
Return
4.1.4 Yoshikawa’s/Condition Number Manipulability Index
Collect xmin, xmax, ymin, ymax, φe,

a11, a12, a13, a21, a22, a23,
x = xmin->xmax, y = ymin->ymax
Invoke Inverse Kinematics w=0

function Iterate if x<xmax
and y<ymax
Iterate if x<xmax If solution No

and y<ymax exists
Yes
Calculate
w= JJ T
k = rcond(J-TJ-1)
4.1.5 Workspace Analysis

9
This section presents algorithm to evaluate different types of workspaces.
4.1.5.1 Maximal Workspace
Collect xmin, xmax, ymin, ymax,

a11, a12, a13, a21, a22, a23,
x = xmin->xmax, y = ymin->ymax and φe=0->360
Invoke Inverse Kinematics Ignore (x,y)

and y<ymax
Iterate if x<xmax If solution No

and y<ymax exists
Yes
Store (x,y)
4.1.5.2 Dextrous Workspace
Collect xmin, xmax, ymin, ymax,

a11, a12, a13, a21, a22, a23,
x = xmin->xmax, y = ymin->ymax and φe=0->360

and y<ymax
Iterate if x<xmax If solution exists No

and y<ymax for every φe
Yes
Store (x,y)
4.1.5.3 Constant Orientation Workspace

10
Collect xmin, xmax, ymin, ymax, φe,
a11, a12, a13, a21, a22, a23,
x = xmin->xmax, y = ymin->ymax

and y<ymax
Iterate if x<xmax If solution exists No

and y<ymax for particular φe
Yes
Store (x,y)
4.1.6 Path Tracking

Path Type: Circle/Ellipse
ϕed / ϕed , Simulation Time
Type of Control: Open/Close (Joint/Task) (Control Gain)
a11, a12, a13, a21, a22, a23,
Invoke Ode45
Calculate Xd and Xd (Circle/Ellipse)

dθ = 0 Open Loop: Invoke Forward Kinematics function Iterate if
Iterate if Closed Loop: t<Simulation
t<Simulation Joint: Invoke Inverse Kinematics function (desired value) time
time Invoke Forward Kinematics function
Task: Invoke Forward Kinematics function
B
No If solution exists
A Yes
11
A
Calculate J-1
B
Open Loop: θ = J −1 X
Closed Loop:

Joint: θ = J −1 X + K (θ d − θ a )

Task: θ = J −1 X + K ( Xd − Xa )
4.2 Development of MATLAB program and GUI
Figure 4.1 MATLAB GUI for Kinematic Analysis of 3-PRR Planar Parallel Manipulator
The Graphical User Interface developed for the 3-PRR planar parallel manipulator has the following
features:
1. It has a graphical display of the manipulator.
2. It has sliders to manipulate the joint space coordinates (θs, ds) and based on the forward
kinematics, the (x, y, φe) of the end effector is evaluated.
3. It has sliders to manipulate the task space coordinates (x, y, φe) and based on inverse kinematics,
the (ds) of the manipulator links is calculated.
4. It has sliders to vary the link lengths and end-effector geometry.
5. It has the capability to calculate 2d and 3d plots for Yoshikawa’s Manipulability and Condition
Number Manipulability for the given workspace limits.
6. It has the capability to calculate Maximal, Dextrous and Constant Orientation Workspace of the
manipulator.
12
7. It has the capability to track a circle or ellipse based on the used specified value of end-effector angle
or rate of change of end-effector angle, type of control, control gain in case closed loop control is
specified and simulation time.
8. It has the ability to switch on and off grid, scale and nomenclature of the manipulator.
9. The text beside the sliders also displays the current value of the slider.
10. It displays a message corresponding to the current status of the program working at the rear end.
Figure 4.2 MATLAB GUI displaying message during evaluation of the configuration
11. It comments on the configuration possibilities for a given combination of input parameters and also
displays the possible cause in case of a failure.
13
Figure 4.3 MATLAB GUI commenting on the possibility of configuration and the possible cause of the
failure.
12. It has a reset button to set the manipulator back to its original configuration.
14
Chapter 5
Results
5.1 Manipulability Analysis
Figure 5-1 illustrates the manipulability plots of 3-PRR manipulator. The plots are obtained using
0.8
Yoshikawa's Manipulability
0.6
0.4
0.2
0
8
6 15
4 10
2 5
Ye 0 0
Xe
(a)
0.4
0.3
0.2
1/k
0.1
0
8
6 15
4 10
2 5
Ye 0 0
Xe
(b)
Figure 5-1 Manipulability plots of 3-PRR parallel planar manipulator. a) Yoshikawa’s
manipulability plot, b) Condition number manipulability plot
Yoshikawa’s manipulability index and condition number index.
A study of the variation of the manipulability of the manipulator is carried out by varying the end-
effector angle. The plots shown in Figure 5-2 are obtained from the analysis. It is observed that the
15
Figure 5-2 Variation of manipulability of the manipulator with end-effector angle
manipulability follows a pattern with the variation of the end-effector angle. The projected view of the
manipulability is obtained on the workspace. The shape changes from a hexagon to a triangle as φe
varies from -180 degrees to -120 degrees. Further the manipulability reduces to a point as φe is reduced
to -80 degrees. It then again starts growing as a triangle with further decreases in φe. At φe=0 degrees it
again attains its hexagonal shape. The same variation as mentioned above is obtained for φe varying
from 0 degrees to 180 degrees.
But there is major drawback to the condition number. For a robot having at least one translational and
one rotational d.o.f., the inverse jacobian will be heterogeneous as far as units are concerned. For
instance, for 3-PRR robot, the elements of the matrix corresponding to translations are dimensionless,
whereas those corresponding to the rotations are lengths. A direct consequence is that the condition
number has no clear physical meaning, as the rotations are transformed arbitrarily into “equivalent”
16
translations. Hence one has to be quite careful when using such an index as an optimality criteria for a
parallel robot. [4]
5.2 Workspace Analysis
Figure 5-3 shows the different kind of workspace related to the 3-PRR manipulator.
It is observed that the maximal workspace for the manipulator is a hexagon. For dexterous workspace it
is observed that only one point exists in the entire workspace at which the manipulator is capable of
(a) (b) (c)

Figure 5-3Workspace of the manipulator. a) Maximal workspace, b) Dexterous workspace and c)
Constant Orientation workspace
rotating for 360 degrees. However, the developed GUI is able to find it only when high resolution is
used for the analysis. The constant orientation workspace varies with the angle of end-effector under
consideration. For an angle of 19 degrees the constant orientation workspace for the manipulator is a
triangle.
5.3 Path Tracking Performance Analysis
(a) (b)
(c)
17
Figure 5-3 Path tracking performance of the manipulator. a) Open Loop Control, b) Joint Space
Closed Loop Control and c) Task Space Closed Loop Control
The following observations are made in general for both the circle and the ellipse.
1.For open loop control the manipulator is able to reproduce the exact shape of the path but the position
itself is drifted.
2.For Joint space control the manipulator tries to converge to the path to be traced. However, its ability
to reproduce the exact path depends heavily on the start point of the manipulator, the control gain
value, time step of the solver, robustness of the numerical technique used for solving the forward
kinematics. It is observed that with high gain value though the manipulator tries to converge to the
desired trajectory fast but the inability of the numerical technique to find a solution that lies farther
from the current configuration makes the solution slow. In case less number of iterations is used to
solve the forward kinematics the manipulator drifts from the path due to its inability to find forward
kinematics solutions for a considerable number of times consecutively which leads to error in
trajectory.
3.For task space control the manipulator is able to almost reproduce the exact path. Here also the
manipulator shows a similar behavior as discussed above.
18
Chapter 6
Discussion
The following results are obtained from the study:
1. Manipulability Analysis: The manipulability of the 3-PRR manipulator has a wide range at an end-
effector angle φe of -180 degrees, 0 degrees and 180 degrees which reduces to a point as φe
approaches -90 degrees or 90 degrees.
2. Workspace Analysis: The maximal workspace of 3-PRR manipulator is hexagonal in shape. The
dexterous workspace is a point. The constant orientation workspace can be hexagon or a triangle
depending upon the orientation of the end-effector.
3. Path Tracking Performance Analysis:

i) Open Loop Control: Significant drift is observed from the trajectory being traced.
ii) Joint Space Closed Loop Control: Works with extremely low (0.01) value of gains but poor path
tracking capability.
iii) Task Space Closed Loop Control: Shows smooth tracking with low (0.3) value of gains which
deteriorates as higher value is used.
19
Bibliography
[1] Masouleh M T, Gosselin C, 2007, Determination of Singularity-Free Zones in the Workspace of
Planar 3- PRR Parallel Mechanisms, Journal of Mechanical Design.
[2] Stefan Staicu, 2009, Inverse dynamics of the 3-PRR planar parallel robot, Robotics and
Autonomous Systems, ScienceDirect.
[3] Nakamura Yoshihiko, Advanced Robotics Redundancy and Optimization, Addison-Wesley
Publishing Company.
[4] J.-P. MERLET, Parallel Robots, (Second Edition), Springer, ISBN-13 978-1-4020-4133-4
20
Appendix A
A.1 MATLAB code for the Forward Kinematics of the 3-PRR Planar Parallel
manipulator.
function [P] = PRR3_ForwardPosKin(x0,P11,P12,P13,d,b,a,d3,n_limit)
% Function to return the position of the 3PRR manipulator end effector for
% given manipulator geometry and joint variables
ni = 0;
sgn = 1;
%x -> xe ye phie t11 t12 t13
Kin_Eqn = @(x) [P11(1)+d(1)*cos(b(1))+a(1,1)*cos(x(4))-x(1)-a(2,1)*cos(x(3)+d3(1));
P11(2)+d(1)*sin(b(1))+a(1,1)*sin(x(4))-x(2)-a(2,1)*sin(x(3)+d3(1));
P12(1)+d(2)*cos(b(2))+a(1,2)*cos(x(5))-x(1)-a(2,2)*cos(x(3)+d3(2));
P12(2)+d(2)*sin(b(2))+a(1,2)*sin(x(5))-x(2)-a(2,2)*sin(x(3)+d3(2));
P13(1)+d(3)*cos(b(3))+a(1,3)*cos(x(6))-x(1)-a(2,3)*cos(x(3)+d3(3));
P13(2)+d(3)*sin(b(3))+a(1,3)*sin(x(6))-x(2)-a(2,3)*sin(x(3)+d3(3))];
f1 = [0 0 0 0 0 0]';
% options=optimset('Display','iter','MaxFunEvals',1000); % Option to display
output
options=optimset('MaxFunEvals',1000,'Display','Off'); % Option to display output
[P, fval, exitflag] = fsolve(Kin_Eqn,x0,options);
while(exitflag<1 & ni<n_limit)
[P, fval, exitflag] = fsolve(Kin_Eqn,x0,options);
f2 = fval;
% if(ni/2==uint8(ni/2))% Alternate Algorithms tried
% sgn = -1;
% else
% sgn = +1;
% end
% sgn = [sign(f1-f2)]'
% x0(1:2) = x0(1:2) + sgn(1:2)*0.1;
% x0(3) = x0(3) + sgn(3)*ni*0.01;
% x0(4:6) = x0(4:6) + sgn(4:6)*ni*0.01;
x0(1:2) = x0(1:2) + sgn*0.1;
x0(3) = x0(3) + sgn*ni*0.01;
x0(4:6) = x0(4:6) + sgn*ni*0.01;
ni = ni+1;
f1 = f2;
% pause;
end
------------------------------------------------------------------------------------------------------------
A.2 MATLAB code for the Inverse Kinematics of the 3-PRR Planar Parallel
manipulator.
function [D] = PRR3_InversePosKin(P11,P12,P13,Pe,b,a,d3)
% Function to return the joint variables of the 3PRR manipulator for
% given end effector pose and minpulator geometry
sgn1 = -1;
sgn2 = 1;
sgn3 = 1;
x31 = Pe(1)+a(2,1)*cos(Pe(3)+d3(1));
x32 = Pe(1)+a(2,2)*cos(Pe(3)+d3(2));
x33 = Pe(1)+a(2,3)*cos(Pe(3)+d3(3));
y31 = Pe(2)+a(2,1)*sin(Pe(3)+d3(1));
-1-
y32 = Pe(2)+a(2,2)*sin(Pe(3)+d3(2));
y33 = Pe(2)+a(2,3)*sin(Pe(3)+d3(3));
A1 = y31-P11(2)-(x31-P11(1))*tan(b(1))+a(1,1)*tan(b(1));
B1 = 2*a(1,1);
C1 = y31-P11(2)-(x31-P11(1))*tan(b(1))-a(1,1)*tan(b(1));
A2 = y32-P12(2)-(x32-P12(1))*tan(b(2))+a(1,2)*tan(b(2));
B2 = 2*a(1,2);
C2 = y32-P12(2)-(x32-P12(1))*tan(b(2))-a(1,2)*tan(b(2));
A3 = y33-P13(2)-(x33-P13(1))*tan(b(3))+a(1,3)*tan(b(3));
B3 = 2*a(1,3);
C3 = y33-P13(2)-(x33-P13(1))*tan(b(3))-a(1,3)*tan(b(3));
if((isreal(sqrt(B1^2-4*A1*C1)))&(isreal(sqrt(B2^2-4*A2*C2)))&(isreal(sqrt(B3^2-
4*A3*C3))))
t21b = 2*atan2((-B1+sgn1*sqrt(B1^2-4*A1*C1)),(2*A1));
t11 = t21b-pi;
d1 = sqrt((x31+a(1,1)*cos(t21b)-P11(1))^2+ (y31+a(1,1)*sin(t21b)-P11(2))^2);
t12 = t22b-pi;
t13 = t23b-pi;
D = [d1 d2 d3 t11 t12 t13];

else
D = [];
End
------------------------------------------------------------------------------------------------------------
A.3 MATLAB code for the Manipulator display of the 3-PRR Planar Parallel
manipulator.
function [] = PRR3_Manipulator_Display(P11,P12,P13,d,b,t,a,Pe,dn)
% Function to display 3PRR manipulator for given link sizes and angular
% positions
cla
a = a(1,:);
h11 = line([P11(1) P11(1)+d(1)*cos(b(1))], [P11(2)

P11(2)+d(1)*sin(b(1))],'LineWidth',10,'Color',[0 1 0]); %Displaying
h12 = line([P11(1)+d(1)*cos(b(1)) P11(1)+d(1)*cos(b(1))+a(1)*cos(t(1))],
[P11(2)+d(1)*sin(b(1))
P11(2)+d(1)*sin(b(1))+a(1)*sin(t(1))],'LineWidth',3,'Color',[1 0 0]); %Displaying
h21 = line([P12(1) P12(1)+d(2)*cos(b(2))], [P12(2)
[P12(2)+d(2)*sin(b(2))
h31 = line([P13(1) P13(1)+d(3)*cos(b(3))], [P13(2)
-2-
[P13(2)+d(3)*sin(b(3))
patch([P11(1)-3*cos(b(1))-0.3*sin(b(1)),P11(1)-
3*cos(b(1))+0.3*sin(b(1)),P11(1)+0.3*cos(b(1))+0.3*sin(b(1)),P11(1)+0.3*cos(b(1))-
0.3*sin(b(1))],...
[P11(2)-3*sin(b(1))+0.3*cos(b(1)),P11(2)-3*sin(b(1))-
0.3*cos(b(1)),P11(2)+0.3*sin(b(1))-
0.3*cos(b(1)),P11(2)+0.3*sin(b(1))+0.3*cos(b(1))],...
'k','FaceAlpha',0,'LineWidth',1);
0.3*sin(b(2))],...
[P12(2)-3*sin(b(2))+0.3*cos(b(2)),P12(2)-3*sin(b(2))-
0.3*cos(b(2)),P12(2)+0.3*sin(b(2))-
0.3*cos(b(2)),P12(2)+0.3*sin(b(2))+0.3*cos(b(2))],...
0.3*sin(b(3))],...
[P13(2)-3*sin(b(3))+0.3*cos(b(3)),P13(2)-3*sin(b(3))-
0.3*cos(b(3)),P13(2)+0.3*sin(b(3))-
0.3*cos(b(3)),P13(2)+0.3*sin(b(3))+0.3*cos(b(3))],...
hold on
m = patch([P11(1)+d(1)*cos(b(1))+a(1)*cos(t(1))
P12(1)+d(2)*cos(b(2))+a(2)*cos(t(2)) P13(1)+d(3)*cos(b(3))+a(3)*cos(t(3))],...
[P11(2)+d(1)*sin(b(1))+a(1)*sin(t(1))
P12(2)+d(2)*sin(b(2))+a(2)*sin(t(2))
P13(2)+d(3)*sin(b(3))+a(3)*sin(t(3))],'b','FaceAlpha',0.5); %Displaying
rectangle('Position',[P11(1)+d(1)*cos(b(1))+a(1)*cos(t(1))-
0.4,P11(2)+d(1)*sin(b(1))+a(1)*sin(t(1))-0.4,0.8,0.8],...
'Curvature',[1,1],...
'LineWidth',1);
0.4,P12(2)+d(2)*sin(b(2))+a(2)*sin(t(2))-0.4,0.8,0.8],...
'LineWidth',1);
0.4,P13(2)+d(3)*sin(b(3))+a(3)*sin(t(3))-0.4,0.8,0.8],...
'LineWidth',1);
rectangle('Position',[P11(1)+d(1)*cos(b(1))-0.4,P11(2)+d(1)*sin(b(1))-
0.4,0.8,0.8],...
'LineWidth',1);
0.4,0.8,0.8],...
-3-
'LineWidth',1)
0.4,0.8,0.8],...
'LineWidth',1)
if(dn==1)
text((P11(1)+P11(1)+d(1)*cos(b(1)))/2,(P11(2)+P11(2)+d(1)*sin(b(1)))/2,'d1','FontWe
ight','Bold');
text((P12(1)+P12(1)+d(2)*cos(b(2)))/2, (P12(2)+P12(2)+d(2)*sin(b(2)))/2
,'d2','FontWeight','Bold');
text((P13(1)+P13(1)+d(3)*cos(b(3)))/2,
(P13(2)+P13(2)+d(3)*sin(b(3)))/2,'d3','FontWeight','Bold');
text((P11(1)+d(1)*cos(b(1))+P11(1)+d(1)*cos(b(1))+a(1)*cos(t(1)))/2,(P11(2)+d(1)*si
n(b(1))+P11(2)+d(1)*sin(b(1))+a(1)*sin(t(1)))/2,'a11','FontWeight','Bold');
text((P12(1)+d(2)*cos(b(2))+P12(1)+d(2)*cos(b(2))+a(2)*cos(t(2)))/2,
(P12(2)+d(2)*sin(b(2))+P12(2)+d(2)*sin(b(2))+a(2)*sin(t(2)))/2,'a12','FontWeight','
Bold');
Bold');
line([P11(1)+d(1)*cos(b(1))+a(1)*cos(t(1))
Pe(1)],[P11(2)+d(1)*sin(b(1))+a(1)*sin(t(1)) Pe(2)],'Color',[0 0 0]);
text((P11(1)+d(1)*cos(b(1))+a(1)*cos(t(1))+Pe(1))/2,(P11(2)+d(1)*sin(b(1))+a(1)*sin
(t(1))+Pe(2))/2,'a21','FontWeight','Bold');
end
drawnow
end
------------------------------------------------------------------------------------------------------------
A.4 MATLAB code for the Manipulator display of the 3-PRR Planar Parallel
manipulator along with plotting.
function [] = PRR3_Manipulator_Display(P11,P12,P13,d,b,t,a,Pe,D,dn)
% Function to display 3PRR manipulator for given link sizes and angular
% positions
cla
a = a(1,:);
h11 = line([P11(1) P11(1)+d(1)*cos(b(1))], [P11(2)

[P11(2)+d(1)*sin(b(1))
-4-
h21 = line([P12(1) P12(1)+d(2)*cos(b(2))], [P12(2)
[P12(2)+d(2)*sin(b(2))
h31 = line([P13(1) P13(1)+d(3)*cos(b(3))], [P13(2)
[P13(2)+d(3)*sin(b(3))
0.3*sin(b(1))],...
[P11(2)-3*sin(b(1))+0.3*cos(b(1)),P11(2)-3*sin(b(1))-
0.3*cos(b(1)),P11(2)+0.3*sin(b(1))-
0.3*cos(b(1)),P11(2)+0.3*sin(b(1))+0.3*cos(b(1))],...
0.3*sin(b(2))],...
[P12(2)-3*sin(b(2))+0.3*cos(b(2)),P12(2)-3*sin(b(2))-
0.3*cos(b(2)),P12(2)+0.3*sin(b(2))-
0.3*cos(b(2)),P12(2)+0.3*sin(b(2))+0.3*cos(b(2))],...
0.3*sin(b(3))],...
[P13(2)-3*sin(b(3))+0.3*cos(b(3)),P13(2)-3*sin(b(3))-
0.3*cos(b(3)),P13(2)+0.3*sin(b(3))-
0.3*cos(b(3)),P13(2)+0.3*sin(b(3))+0.3*cos(b(3))],...
hold on
m = patch([P11(1)+d(1)*cos(b(1))+a(1)*cos(t(1))
P12(1)+d(2)*cos(b(2))+a(2)*cos(t(2)) P13(1)+d(3)*cos(b(3))+a(3)*cos(t(3))],...
[P11(2)+d(1)*sin(b(1))+a(1)*sin(t(1)) P12(2)+d(2)*sin(b(2))+a(2)*sin(t(2))
P13(2)+d(3)*sin(b(3))+a(3)*sin(t(3))],'b','FaceAlpha',0.25); %Displaying
% y = quiver(Pe(1),Pe(2),200,200,'r');
0.4,P11(2)+d(1)*sin(b(1))+a(1)*sin(t(1))-0.4,0.8,0.8],...
'LineWidth',1);
0.4,P12(2)+d(2)*sin(b(2))+a(2)*sin(t(2))-0.4,0.8,0.8],...
'LineWidth',1);
0.4,P13(2)+d(3)*sin(b(3))+a(3)*sin(t(3))-0.4,0.8,0.8],...
'LineWidth',1);
-5-
0.4,0.8,0.8],...
'LineWidth',1);
0.4,0.8,0.8],...
'LineWidth',1)
0.4,0.8,0.8],...
'LineWidth',1)
plot(D(:,1),D(:,2),'-r','LineWidth',2);
drawnow;
if(dn==1)
text((P11(1)+P11(1)+d(1)*cos(b(1)))/2,(P11(2)+P11(2)+d(1)*sin(b(1)))/2,'d1','FontWe
ight','Bold');
text((P12(1)+P12(1)+d(2)*cos(b(2)))/2, (P12(2)+P12(2)+d(2)*sin(b(2)))/2
,'d2','FontWeight','Bold');
text((P13(1)+P13(1)+d(3)*cos(b(3)))/2,
(P13(2)+P13(2)+d(3)*sin(b(3)))/2,'d3','FontWeight','Bold');
text((P11(1)+d(1)*cos(b(1))+P11(1)+d(1)*cos(b(1))+a(1)*cos(t(1)))/2,(P11(2)+d(1)*si
n(b(1))+P11(2)+d(1)*sin(b(1))+a(1)*sin(t(1)))/2,'a11','FontWeight','Bold');
Bold');
Bold');
end
drawnow
end
------------------------------------------------------------------------------------------------------------
-6-
A.5 MATLAB code for the GUI of the 3-PRR Planar Parallel manipulator.
function varargout = PRR3_GUI_2(varargin)
% PRR3_GUI_2 M-file for PRR3_GUI_2.fig
% PRR3_GUI_2, by itself, creates a new PRR3_GUI_2 or raises the
% existing
% singleton*.
%
% H = PRR3_GUI_2 returns the handle to a new PRR3_GUI_2 or the handle
% to
% the existing singleton*.
%
% PRR3_GUI_2('CALLBACK',hObject,eventData,handles,...) calls the local
% function named CALLBACK in PRR3_GUI_2.M with the given input arguments.
%
% PRR3_GUI_2('Property','Value',...) creates a new PRR3_GUI_2 or
% raises the
% existing singleton*. Starting from the left, property value pairs are
% applied to the GUI before PRR3_GUI_2_OpeningFunction gets called. An
% unrecognized property name or invalid value makes property application
% stop. All inputs are passed to PRR3_GUI_2_OpeningFcn via varargin.
%
% *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one
% instance to run (singleton)".
%
% See also: GUIDE, GUIDATA, GUIHANDLES
% Copyright 2002-2003 The MathWorks, Inc.
% Edit the above text to modify the response to help PRR3_GUI_2
% Last Modified by GUIDE v2.5 21-Dec-2009 02:34:57
% Begin initialization code - DO NOT EDIT

gui_Singleton = 1;
gui_State = struct('gui_Name', mfilename, ...
'gui_Singleton', gui_Singleton, ...
'gui_OpeningFcn', @PRR3_GUI_2_OpeningFcn, ...
'gui_OutputFcn', @PRR3_GUI_2_OutputFcn, ...
'gui_LayoutFcn', [] , ...
'gui_Callback', []);
if nargin && ischar(varargin{1})
gui_State.gui_Callback = str2func(varargin{1});
end
if nargout
[varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
else
gui_mainfcn(gui_State, varargin{:});
end
% End initialization code - DO NOT EDIT
% --- Executes just before PRR3_GUI_2 is made visible.

function PRR3_GUI_2_OpeningFcn(hObject, eventdata, handles, varargin)
% This function has no output args, see OutputFcn.
% hObject handle to figure
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
-7-
% varargin command line arguments to PRR3_GUI_2 (see VARARGIN)
% Choose default command line output for PRR3_GUI_2

handles.output = hObject;
% Update handles structure

guidata(hObject, handles);
% UIWAIT makes PRR3_GUI_2 wait for user response (see UIRESUME)

% uiwait(handles.figure1);
%Variables
% Pe - Pose of End Effector (xe,ye,phie)
%t - (theta11, theta12, theta13)
clc
global Pe t
Pe = [15/2 15*sin(pi/3)/3 0];
t = [30 150 270]*pi/180;
%Setting slider values for d1, d2 and d3

slider_step(1) = 0.4/(10-(-10));
slider_step(2) = 1/(10-(-10));
set(handles.d1_slider,'sliderstep',slider_step,...
'max',10,'min',-10);%,'Value',3);
'max',10,'min',-10);%,'Value',3);
'max',10,'min',-10);%,'Value',3);
set(handles.a11_slider,'sliderstep',slider_step,...
'max',10,'min',-10);%,'Value',3);
'max',10,'min',-10);%,'Value',3);
'max',10,'min',-10);%,'Value',3);
'max',10,'min',-10);%,'Value',3);
'max',10,'min',-10);%,'Value',3);
'max',10,'min',-10);%,'Value',3);
%Setting slider values for b1, b2 and b3

slider_step(1) = 5/(360-0);
slider_step(2) = 10/(360-0);
set(handles.b1_slider,'sliderstep',slider_step,...
'max',2*pi,'min',0);%,'Value',pi/6);
-8-
'max',2*pi,'min',0);%,'Value',2*pi/3+pi/6);
'max',2*pi,'min',0);%,'Value',3*pi/2);
%Setting slider values for Tracking Simulation Time

slider_step(1) = 0.5/20;
slider_step(2) = 1/20;
set(handles.simulation_time_slider,'sliderstep',slider_step,...
'max',20,'min',0);
%Setting slider values for Control Gain

set(handles.gain_slider,'sliderstep',slider_step,...
'max',1,'min',0);
%Setting slider values for Phie desired

slider_step(1) = 0.01/0.4;
slider_step(2) = 0.1/0.4;
set(handles.phie_desired_slider,'sliderstep',slider_step,...
'max',0.2,'min',-0.2);
set(handles.phiedot_desired_slider,'sliderstep',slider_step,...
'max',0.2,'min',-0.2);
set(handles.d1_disp,'String',num2str(get(handles.d1_slider,'Value')));
set(handles.a11_disp,'String',num2str(get(handles.a11_slider,'Value')));
set(handles.b1_disp,'String',num2str(get(handles.b1_slider,'Value')*180/pi));
% set(handles.open_loop_radio,'Value',0);
% set(handles.joint_space_radio,'Value',1);
% set(handles.task_space_radio,'Value',0);
%Displaying Manipulator
P11 = [0;0];
P12 = [15;0];
P13 = [15/2;15*sin(pi/3)];
d = [get(handles.d1_slider,'Value'); get(handles.d2_slider,'Value');
get(handles.d3_slider,'Value')];% (d1,d2,d3)
b = [get(handles.b1_slider,'Value'); get(handles.b2_slider,'Value');
get(handles.b3_slider,'Value')];
-9-
a = [get(handles.a11_slider,'Value') get(handles.a12_slider,'Value')
get(handles.a13_slider,'Value');get(handles.a21_slider,'Value')
get(handles.a22_slider,'Value') get(handles.a23_slider,'Value')];
d3 = [210; 330; 90]*pi/180; %(delta31,delta32,delta33)
% t = [30; 150; 270]*pi/180;
% Pe = [get(handles.xe_slider,'Value') get(handles.ye_slider,'Value')
get(handles.phie_slider,'Value')];
x0 = [Pe t];
S = PRR3_ForwardPosKin(x0,P11,P12,P13,d,b,a,d3,10);
if(isempty(S))
set(handles.status_text,'String','Configuration Not Possible!(Initialization
Error) Resetting...','ForegroundColor',[1 0 0]);
pause(1);
reset_button_Callback(hObject, eventdata, handles);
drawnow;
else
t = [S(4) S(5) S(6)];
Pe = [S(1) S(2) S(3)];
axes(handles.Main_axes);
if(get(handles.display_scale_checkbox,'Value')==1)
set(handles.Main_axes,'FontSize',10);
else
end
grid off
if(get(handles.grid_checkbox,'Value')==1)
grid off
grid minor
else
grid off
end
axis([-5 20 -5 20]);
PRR3_Manipulator_Display(P11,P12,P13,d,b,t,a,Pe,get(handles.display_names_checkbox,
'Value'));
%Setting slider values for Xe, Ye

slider_step(1) = 0.4/(10-(-10));
slider_step(2) = 1/(10-(-10));
set(handles.xe_slider,'sliderstep',slider_step,...
'max',10,'min',-10,'Value',Pe(1));
set(handles.ye_slider,'sliderstep',slider_step,...
'max',10,'min',-10,'Value',Pe(2));
%Setting slider values for Phie

slider_step(1) = 5/(180-(-180));
slider_step(2) = 10/(180-(-180));
set(handles.phie_slider,'sliderstep',slider_step,...
'max',pi,'min',-pi,'Value',Pe(3));
set(handles.xe_disp,'String',num2str(get(handles.xe_slider,'Value')));
set(handles.ye_disp,'String',num2str(get(handles.ye_slider,'Value')));
set(handles.phie_disp,'String',num2str(get(handles.phie_slider,'Value')*180/pi));
end
% --- Outputs from this function are returned to the command line.
- 10 -
function varargout = PRR3_GUI_2_OutputFcn(hObject, eventdata, handles)
% varargout cell array for returning output args (see VARARGOUT);
% hObject handle to figure
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Get default command line output from handles structure

varargout{1} = handles.output;
% --- Executes on slider movement.

function d1_slider_Callback(hObject, eventdata, handles)
set(handles.status_text,'String','Evaluating Please Wait!','ForegroundColor',[0 0
0]);
drawnow;
global Pe t
P11 = [0;0];
P12 = [15;0];
P13 = [15/2;15*sin(pi/3)];
get(handles.d3_slider,'Value')];
d3 = [210; 330; 90]*pi/180;
% t = [30; 150; 270]*pi/180;
Pe = [get(handles.xe_slider,'Value') get(handles.ye_slider,'Value')
x0 = [Pe t];
if(isempty(S))
set(handles.status_text,'String','Configuration Not Possible!(d1 limit
exceeded)','ForegroundColor',[1 0 0]);
drawnow;
else
t = [S(4) S(5) S(6)];
Pe = [S(1) S(2) S(3)];
'Value'));
set(handles.status_text,'String','Done!','ForegroundColor',[0 0 0]);
end
set(handles.xe_slider,'Value',Pe(1));
set(handles.ye_slider,'Value',Pe(2));
set(handles.phie_slider,'Value',Pe(3));
set(handles.xe_disp,'String',num2str(Pe(1)));
set(handles.ye_disp,'String',num2str(Pe(2)));
set(handles.phie_disp,'String',num2str(Pe(3)*180/pi));
% --- Executes during object creation, after setting all properties.

function d1_slider_CreateFcn(hObject, eventdata, handles)
if isequal(get(hObject,'BackgroundColor'),
get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor',[.9 .9 .9]);
- 11 -
end

0]);
drawnow;
global Pe t
P11 = [0;0];
P12 = [15;0];
P13 = [15/2;15*sin(pi/3)];
d3 = [210; 330; 90]*pi/180;
% t = [30; 150; 270]*pi/180;
x0 = [Pe t];
if(isempty(S))
drawnow;
else
t = [S(4) S(5) S(6)];
Pe = [S(1) S(2) S(3)];
'Value'));
end

end

0]);
drawnow;
- 12 -
global Pe t
P11 = [0;0];
P12 = [15;0];
P13 = [15/2;15*sin(pi/3)];
d3 = [210; 330; 90]*pi/180;
% t = [30; 150; 270]*pi/180;
x0 = [Pe t];
if(isempty(S))
drawnow;
else
t = [S(4) S(5) S(6)];
Pe = [S(1) S(2) S(3)];
'Value'));
end

end

function xe_slider_Callback(hObject, eventdata, handles)
set(handles.xe_disp,'String',num2str(get(handles.xe_slider,'Value')));
0]);
drawnow;
global Pe t
P11 = [0;0];
P12 = [15;0];
P13 = [15/2;15*sin(pi/3)];
- 13 -
d3 = [210; 330; 90]*pi/180;
% t = [30; 150; 270]*pi/180;
x0 = [d' t]
S = PRR3_InversePosKin(P11,P12,P13,Pe,b,a,d3)
if(isempty(S))
set(handles.status_text,'String','Configuration Not Possible!(Xe limit
drawnow;
else
t = [S(4) S(5) S(6)]
d = [S(1) S(2) S(3)]
'Value'))
end
set(handles.d1_slider,'Value',d(1));
set(handles.d1_disp,'String',num2str(d(1)));

function xe_slider_CreateFcn(hObject, eventdata, handles)
end

function ye_slider_Callback(hObject, eventdata, handles)
set(handles.ye_disp,'String',num2str(get(handles.ye_slider,'Value')));
0]);
drawnow;
global Pe t
P11 = [0;0];
P12 = [15;0];
P13 = [15/2;15*sin(pi/3)];
d3 = [210; 330; 90]*pi/180;
% t = [30; 150; 270]*pi/180;
- 14 -
x0 = [d' t]
if(isempty(S))
set(handles.status_text,'String','Configuration Not Possible!(Ye limit
drawnow;
else
t = [S(4) S(5) S(6)]
d = [S(1) S(2) S(3)]
'Value'))
end

function ye_slider_CreateFcn(hObject, eventdata, handles)
end

function phie_slider_Callback(hObject, eventdata, handles)
set(handles.phie_disp,'String',num2str(get(handles.phie_slider,'Value')*180/pi));
0]);
drawnow;
global Pe t
P11 = [0;0];
P12 = [15;0];
P13 = [15/2;15*sin(pi/3)];
d3 = [210; 330; 90]*pi/180;
% t = [30; 150; 270]*pi/180;
x0 = [d' t]
if(isempty(S))
set(handles.status_text,'String','Configuration Not Possible!(Phie limit
drawnow;
- 15 -
else
t = [S(4) S(5) S(6)]
d = [S(1) S(2) S(3)]
'Value'))
end

function phie_slider_CreateFcn(hObject, eventdata, handles)
end

function a11_slider_Callback(hObject, eventdata, handles)
0]);
drawnow;
global Pe t
P11 = [0;0];
P12 = [15;0];
P13 = [15/2;15*sin(pi/3)];
d3 = [210; 330; 90]*pi/180;
% t = [30; 150; 270]*pi/180;
x0 = [Pe t];
if(isempty(S))
set(handles.status_text,'String','Configuration Not Possible!(a11 limit
drawnow;
else
t = [S(4) S(5) S(6)];
Pe = [S(1) S(2) S(3)];
'Value'));
- 16 -
end

function a11_slider_CreateFcn(hObject, eventdata, handles)
end

0]);
drawnow;
global Pe t
P11 = [0;0];
P12 = [15;0];
P13 = [15/2;15*sin(pi/3)];
d3 = [210; 330; 90]*pi/180;
% t = [30; 150; 270]*pi/180;
x0 = [Pe t];
if(isempty(S))
drawnow;
else
t = [S(4) S(5) S(6)];
Pe = [S(1) S(2) S(3)];
'Value'));
end
- 17 -
end

0]);
drawnow;
global Pe t
P11 = [0;0];
P12 = [15;0];
P13 = [15/2;15*sin(pi/3)];
d3 = [210; 330; 90]*pi/180;
% t = [30; 150; 270]*pi/180;
x0 = [Pe t];
if(isempty(S))
drawnow;
else
t = [S(4) S(5) S(6)];
Pe = [S(1) S(2) S(3)];
'Value'));
end

end

- 18 -
end

0]);
drawnow;
global Pe t
P11 = [0;0];
P12 = [15;0];
P13 = [15/2;15*sin(pi/3)];
d3 = [210; 330; 90]*pi/180;
% t = [30; 150; 270]*pi/180;
x0 = [Pe t];
if(isempty(S))
drawnow;
else
t = [S(4) S(5) S(6)];
Pe = [S(1) S(2) S(3)];
'Value'));
end

end

- 19 -
0]);
drawnow;
global Pe t
P11 = [0;0];
P12 = [15;0];
P13 = [15/2;15*sin(pi/3)];
d3 = [210; 330; 90]*pi/180;
% t = [30; 150; 270]*pi/180;
x0 = [Pe t];
if(isempty(S))
drawnow;
else
t = [S(4) S(5) S(6)];
Pe = [S(1) S(2) S(3)];
'Value'));
end

end

0]);
drawnow;
global Pe t
P11 = [0;0];
P12 = [15;0];
P13 = [15/2;15*sin(pi/3)];
- 20 -
d3 = [210; 330; 90]*pi/180;
x0 = [Pe t];
if(isempty(S))
drawnow;
else
t = [S(4) S(5) S(6)];
Pe = [S(1) S(2) S(3)];
'Value'));
end

function b1_slider_Callback(hObject, eventdata, handles)
0]);
drawnow;
global Pe t
P11 = [0;0];
P12 = [15;0];
P13 = [15/2;15*sin(pi/3)];
d3 = [210; 330; 90]*pi/180;
% t = [30; 150; 270]*pi/180;
x0 = [Pe t];
if(isempty(S))
set(handles.status_text,'String','Configuration Not Possible!(b1 limit
- 21 -
drawnow;
else
t = [S(4) S(5) S(6)];
Pe = [S(1) S(2) S(3)];
'Value'));
end

function b1_slider_CreateFcn(hObject, eventdata, handles)
end

0]);
drawnow;
global Pe t
P11 = [0;0];
P12 = [15;0];
P13 = [15/2;15*sin(pi/3)];
d3 = [210; 330; 90]*pi/180;
x0 = [Pe t];
if(isempty(S))
drawnow;
else
t = [S(4) S(5) S(6)];
Pe = [S(1) S(2) S(3)];
'Value'));
- 22 -
end

end

0]);
drawnow;
global Pe t
P11 = [0;0];
P12 = [15;0];
P13 = [15/2;15*sin(pi/3)];
d3 = [210; 330; 90]*pi/180;
% t = [30; 150; 270]*pi/180;
x0 = [Pe t];
if(isempty(S))
drawnow;
else
t = [S(4) S(5) S(6)];
Pe = [S(1) S(2) S(3)];
'Value'));
end
- 23 -
end
% --- Executes on button press in reset_button.

function reset_button_Callback(hObject, eventdata, handles)
set(handles.d1_slider,'Value',3);
set(handles.a11_slider,'Value',3);
set(handles.b1_slider,'Value',pi/6);
set(handles.b2_slider,'Value',2*pi/3+pi/6);
set(handles.b3_slider,'Value',3*pi/2);
global Pe t
P11 = [0;0];
P12 = [15;0];
P13 = [15/2;15*sin(pi/3)];
d3 = [210; 330; 90]*pi/180;
Pe = [15/2 15/3*sin(pi/3) -0.3316];
% Pe = [get(handles.xe_slider,'Value') get(handles.ye_slider,'Value')
x0 = [Pe t];
if(isempty(S))
set(handles.status_text,'String','Configuration Not Possible!(Initialization
Error)Restart GUI','ForegroundColor',[1 0 0]);
drawnow;
else
t = [S(4) S(5) S(6)];
Pe = [S(1) S(2) S(3)];
else
- 24 -
end
'Value'));
end
% --- Executes on button press in max_workspace_button.

function max_workspace_button_Callback(hObject, eventdata, handles)
% Wx = 0:0.5:15;
% Wy = 0:0.5:15;
Wx =
str2num(get(handles.xmin_limit_edit,'String')):0.5:str2num(get(handles.xmax_limit_e
dit,'String'));
Wy =
str2num(get(handles.ymin_limit_edit,'String')):0.5:str2num(get(handles.ymax_limit_e
dit,'String'));
Phie = [0:5:360]*pi/180;
Ws = [];
n = 0;
0]);
drawnow;
global Pe t
P11 = [0;0];
P12 = [15;0];
P13 = [15/2;15*sin(pi/3)];
d3 = [210; 330; 90]*pi/180;
flag = 0;
for i=1:1:length(Wx)
for j=1:1:length(Wy)
for k=1:1:length(Phie)
Pe = [Wx(i) Wy(j) Phie(k)];
x0 = [d' t];
S = PRR3_InversePosKin(P11,P12,P13,Pe,b,a,d3);
if(isempty(S))
else
n = n+1;
flag = 1;
Ws(n,1)=Wx(i);
Ws(n,2)=Wy(j);
- 25 -
t = [S(4) S(5) S(6)];
d = [S(1); S(2); S(3)];
break
end
end
end
end
plot(Ws(:,1),Ws(:,2),'*','Markersize',10);
patch([Wx(1) Wx(length(Wx)) Wx(length(Wx)) Wx(1)],[Wy(1) Wy(1) Wy(length(Wy))
Wy(length(Wy))],[0 0 0],'FaceAlpha',0,'LineWidth',2);
text(-1,17.5,['Maximal Workspace for given
configuration'],'FontWeight','bold','FontSize',14);
set(handles.status_text,'String','Click Reset to set to Initial
Position!','ForegroundColor',[0 0 0]);
drawnow;
% --- Executes on button press in dex_workspace_button.

function dex_workspace_button_Callback(hObject, eventdata, handles)
% Wx = 7:0.1:8;
% Wy = 4:0.1:5;
Wx =
dit,'String'));
Wy =
dit,'String'));
Phie = [0:5:360]*pi/180;
Ws = [];
n = 0;
0]);
drawnow;
global Pe t
P11 = [0;0];
P12 = [15;0];
P13 = [15/2;15*sin(pi/3)];
d3 = [210; 330; 90]*pi/180;
flag = 1;
for k=1:1:length(Phie)
Pe = [Wx(i) Wy(j) Phie(k)];
x0 = [d' t];
if(isempty(S))
flag = 0;
break;
else
t = [S(4) S(5) S(6)];
- 26 -
d = [S(1); S(2); S(3)];
PRR3_Manipulator_Display_Plot(P11,P12,P13,d,b,t,a,Pe,[Wx(i)
Wy(j)],get(handles.display_names_checkbox,'Value'));
plot(Wx(i),Wy(j),'+','Markersize',10);
text(Wx(i),Wy(j),['(' num2str(Wx(i)) ',' num2str(Wy(j)) ')']);
pause(0.001)
end
end
if(flag == 1)
n = n+1;
Ws(n,1)=Wx(i);
Ws(n,2)=Wy(j);
end
end
end
if(~isempty(Ws))
end
text(-1,17.5,['Dextrous Workspace for given
configuration'],'FontWeight','bold','FontSize',14);
drawnow;
% --- Executes on button press in c_orient_workspace_button.

function c_orient_workspace_button_Callback(hObject, eventdata, handles)
% Wx = 0:0.5:15;
% Wy = 0:0.5:5;
Wx =
dit,'String'));
Wy =
dit,'String'));
Phie = get(handles.phie_slider,'Value');
Ws = [];
n = 0;
0]);
drawnow;
global Pe t
P11 = [0;0];
P12 = [15;0];
P13 = [15/2;15*sin(pi/3)];
d3 = [210; 330; 90]*pi/180;
- 27 -
flag = 1;
Pe = [Wx(i) Wy(j) Phie];
x0 = [d' t];
if(isempty(S))
else
n = n+1;
Ws(n,1)=Wx(i);
Ws(n,2)=Wy(j);
t = [S(4) S(5) S(6)];
d = [S(1); S(2); S(3)];
PRR3_Manipulator_Display_Plot(P11,P12,P13,d,b,t,a,Pe,[Wx(i)
Wy(j)],get(handles.display_names_checkbox,'Value'));
plot(Wx(i),Wy(j),'+','Markersize',10);
text(Wx(i),Wy(j),['(' num2str(Wx(i)) ',' num2str(Wy(j)) ')']);
pause(0.001)
end
end
end
text(-1,17.5,['Constant Orientation Workspace for \0e='
num2str(Pe(3)*180/pi,'%3.2g')],'FontWeight','bold','FontSize',14);
drawnow;
% --- Executes on button press in pushbutton6.

function yoshi_manipulability_button_Callback(hObject, eventdata, handles)
0]);
drawnow;
P11 = [0;0];
P12 = [15;0];
P13 = [15/2;15*sin(pi/3)];
d3 = [210; 330; 90]*pi/180;
M = [];
i=1;
j=1;
x0 = [0 0 0 0 0 0];
X =
str2num(get(handles.xmin_limit_edit,'String')):0.25:str2num(get(handles.xmax_limit_
edit,'String'));
Y =
str2num(get(handles.ymin_limit_edit,'String')):0.25:str2num(get(handles.ymax_limit_
edit,'String'));
for xe = X
j = 1;
- 28 -
for ye = Y
Pe = [xe ye get(handles.phie_slider,'Value')];
if(isempty(S))
M(j,i)=0;
else
A = [1 0 -a(2,1)*sin(Pe(3)+d3(1));
1 0 -a(2,2)*sin(Pe(3)+d3(2));
1 0 -a(2,3)*sin(Pe(3)+d3(3));
0 1 a(2,1)*cos(Pe(3)+d3(1));
0 1 a(2,2)*cos(Pe(3)+d3(2));
0 1 a(2,3)*cos(Pe(3)+d3(3))];
B = [cos(b(1)) 0 0 -a(1,1)*sin(S(4)) 0
0;
0 cos(b(2)) 0 0 -a(1,2)*sin(S(5))
0;
0 0 cos(b(3)) 0 0 -
a(1,3)*sin(S(6));
sin(b(1)) 0 0 a(1,1)*cos(S(4)) 0
0;
0 sin(b(2)) 0 0 a(1,2)*cos(S(5))
0;
0 0 sin(b(3)) 0 0
a(1,3)*cos(S(6))];
J = pinv(A)*B;
M(j,i) = sqrt(det(J*J'));
end
j=j+1;
end
i=i+1;
end
hold on;
surf(X,Y,M);
colormap bone
text(-2,17.5,['Condition Number Manipulability Plot at \0e='
num2str(Pe(3)*180/pi,'%3.2g')],'FontWeight','bold','FontSize',14,'Color',[1 1 1]);
text(-1,17.5,['Yoshikawa''s Manipulability Plot at \0e='
figure
hold on;
surf(X,Y,M);
colormap hsv
xlabel('Xe');
ylabel('Ye');
zlabel('Yoshikawa''s Manipulability');
view(3);
grid on;
drawnow;
% --- Executes on button press in yoshi_manipulability_button.

function yoshi_manipulability_button_Callback(hObject, eventdata, handles)
% --- Executes on button press in cond_manipulability_button.

function cond_manipulability_button_Callback(hObject, eventdata, handles)
- 29 -
0]);
drawnow;
P11 = [0;0];
P12 = [15;0];
P13 = [15/2;15*sin(pi/3)];
d3 = [210; 330; 90]*pi/180;
M = [];
i=1;
j=1;
x0 = [0 0 0 0 0 0];
X =
str2num(get(handles.xmin_limit_edit,'String')):0.25:str2num(get(handles.xmax_limit_
edit,'String'));
Y =
str2num(get(handles.ymin_limit_edit,'String')):0.25:str2num(get(handles.ymax_limit_
edit,'String'));
for xe = X
j = 1;
for ye = Y
Pe = [xe ye get(handles.phie_slider,'Value')];
if(isempty(S))
M(j,i)=0;
else
A = [1 0 -a(2,1)*sin(Pe(3)+d3(1));
1 0 -a(2,2)*sin(Pe(3)+d3(2));
1 0 -a(2,3)*sin(Pe(3)+d3(3));
0 1 a(2,1)*cos(Pe(3)+d3(1));
0 1 a(2,2)*cos(Pe(3)+d3(2));
0 1 a(2,3)*cos(Pe(3)+d3(3))];
B = [cos(b(1)) 0 0 -a(1,1)*sin(S(4)) 0
0;
0 cos(b(2)) 0 0 -a(1,2)*sin(S(5))
0;
0 0 cos(b(3)) 0 0 -
a(1,3)*sin(S(6));
sin(b(1)) 0 0 a(1,1)*cos(S(4)) 0
0;
0 sin(b(2)) 0 0 a(1,2)*cos(S(5))
0;
0 0 sin(b(3)) 0 0
a(1,3)*cos(S(6))];
Jinv = pinv(B)*(A);
M(j,i) = sqrt(rcond(Jinv'*Jinv));
end
j=j+1;
end
i=i+1;
end
hold on;
surf(X,Y,M);
- 30 -
colormap bone
text(-1,17.5,['Yoshikawa''s Manipulability Plot at \0e='
num2str(Pe(3)*180/pi,'%3.2g')],'FontWeight','bold','FontSize',14,'Color',[1 1 1]);
text(-2,17.5,['Condition Number Manipulability Plot at \0e='
figure
hold on;
surf(X,Y,M);
xlabel('Xe');
ylabel('Ye');
zlabel('1/k');
colormap hsv
view(3);
grid on;
% --- Executes on button press in trace_button.

function trace_button_Callback(hObject, eventdata, handles)
global Pe t X Y MainGUIdata;
MainGUIdata = guidata(PRR3_GUI_2);
grid off
grid minor
else
grid off
end
X = [];
Y = [];
t0 = [d' t];
st = get(handles.simulation_time_slider,'Value');
if(get(handles.circle_radio,'Value')==1) % Choosing figure to be traced
ft = 1;
elseif(get(handles.ellipse_radio,'Value')==1)
ft = 2;
end
if(get(handles.open_loop_radio,'Value')==1) % Choosing control type
ct = 1;
elseif(get(handles.joint_space_radio,'Value')==1)
ct = 2;
elseif(get(handles.task_space_radio,'Value')==1)
ct = 3;
end
[tdot,time] = ode45(@Control,[0,st],t0,[],ft,ct,st);
function dy = Control(time,y, ft,ct,st)

global Pe t X Y dypre MainGUIdata
set(MainGUIdata.status_text,'String','Evaluating Please Wait!','ForegroundColor',[0
0 0]);
drawnow;
K_tsc = get(MainGUIdata.gain_slider,'Value');
K_jsc = get(MainGUIdata.gain_slider,'Value');
P11 = [0;0];
P12 = [15;0];
- 31 -
P13 = [15/2;15*sin(pi/3)];
d = [y(1) y(2) y(3)];
b = [get(MainGUIdata.b1_slider,'Value'); get(MainGUIdata.b2_slider,'Value');
get(MainGUIdata.b3_slider,'Value')];
a = [get(MainGUIdata.a11_slider,'Value') get(MainGUIdata.a12_slider,'Value')
get(MainGUIdata.a13_slider,'Value');get(MainGUIdata.a21_slider,'Value')
get(MainGUIdata.a22_slider,'Value') get(MainGUIdata.a23_slider,'Value')];
d3 = [210; 330; 90]*pi/180;
switch(ft)
case 1
cx = 15/2;
cy = 15*sin(pi/3)/3;
cr = 1;
if(get(MainGUIdata.phiedot_desired_slider,'Value')~=0)
Xd = [cx+cr*cos(time) cy+cr*sin(time)
get(MainGUIdata.phiedot_desired_slider,'Value')*time];
else
Xd = [cx+cr*cos(time) cy+cr*sin(time)
get(MainGUIdata.phie_desired_slider,'Value')];
end
Xdot = [-cr*sin(time) cr*cos(time)
get(MainGUIdata.phiedot_desired_slider,'Value')]';
case 2
ex = 15/2;
ey = 15*sin(pi/3)/3;
ea = 1;
eb = 0.5;
if(get(MainGUIdata.phiedot_desired_slider,'Value')~=0)
Xd = [ex+ea*cos(time) ey+eb*sin(time)
get(MainGUIdata.phiedot_desired_slider,'Value')*time];
else
Xd = [ex+ea*cos(time) ey+eb*sin(time)
get(MainGUIdata.phie_desired_slider,'Value')];
end
Xdot = [-ea*sin(time) eb*cos(time)
get(MainGUIdata.phiedot_desired_slider,'Value')]';
end
set(MainGUIdata.xe_slider,'Value',Pe(1));
set(MainGUIdata.ye_slider,'Value',Pe(2));
set(MainGUIdata.phie_slider,'Value',Pe(3));
set(MainGUIdata.xe_disp,'String',num2str(Pe(1)));
set(MainGUIdata.ye_disp,'String',num2str(Pe(2)));
set(MainGUIdata.phie_disp,'String',num2str(Pe(3)*180/pi));
set(MainGUIdata.d1_slider,'Value',y(1));
set(MainGUIdata.d1_disp,'String',num2str(y(1)));
switch(ct)
case 1
x0 = [Pe t];
if(isempty(S))
dy = dypre;
return
end
t = [S(4) S(5) S(6)];
Pe = [S(1) S(2) S(3)];
- 32 -
case 2
Ped = Xd;
x0 = [d t];
S = PRR3_InversePosKin(P11,P12,P13,Ped,b,a,d3);
if(isempty(S))
dy = 0*ones(1,6);
return
end
Td = [S(1:6)];
x0 = [Pe t];
if(isempty(S))
dy = 0*ones(1,6);
return
end
t = [S(4) S(5) S(6)];
Pe = [S(1) S(2) S(3)];
case 3
x0 = [Pe t];
if(isempty(S))
dy = 0*ones(1,6);
return
end
t = [S(4) S(5) S(6)];
Pe = [S(1) S(2) S(3)];
end
A = [1 0 -a(2,1)*sin(Pe(3)+d3(1));
1 0 -a(2,2)*sin(Pe(3)+d3(2));
1 0 -a(2,3)*sin(Pe(3)+d3(3));
0 1 a(2,1)*cos(Pe(3)+d3(1));
0 1 a(2,2)*cos(Pe(3)+d3(2));
0 1 a(2,3)*cos(Pe(3)+d3(3))];
B = [cos(b(1)) 0 0 -a(1,1)*sin(y(4)) 0 0;
0 cos(b(2)) 0 0 -a(1,2)*sin(y(5)) 0;
0 0 cos(b(3)) 0 0 -
a(1,3)*sin(y(6));
sin(b(1)) 0 0 a(1,1)*cos(y(4)) 0 0;
0 sin(b(2)) 0 0 a(1,2)*cos(y(5)) 0;
0 0 sin(b(3)) 0 0
a(1,3)*cos(y(6))];
Jinv = inv(B)*A;
switch(ct)
case 1 %'OpenLoop'
dy = Jinv*Xdot;
case 2 %'JointSpaceClosedLoop'
dy = Jinv*Xdot+K_jsc*(Td'-[y(1:6)]);
case 3 %TaskSpaceClosedLoop
dy = Jinv*(Xdot+K_tsc*(Xd'-Pe'));
end
axes(MainGUIdata.Main_axes);
X = [X Pe(1)];
Y = [Y Pe(2)];
set(MainGUIdata.status_text,'String','Tracing','ForegroundColor',[0 0 0]);
PRR3_Manipulator_Display_Plot(P11,P12,P13,d,b,t,a,Pe,[X
Y],get(MainGUIdata.display_names_checkbox,'Value'));
switch(ft)
case 1
plot(cx+cr*cos(0:0.01:st),cy+cr*sin(0:0.01:st),'-b','LineWidth',2);
- 33 -
case 2
plot(ex+ea*cos(0:0.01:st),ey+eb*sin(0:0.01:st),'-b','LineWidth',2);
end
plot(X,Y,'-r','LineWidth',2);
text(-1,-4,['Simulation Time: '
num2str(time,'%3.2g')],'FontWeight','bold','FontSize',12);
pause(0.01);
drawnow;
dypre = dy;
Pepre = Pe;
% --- Executes on button press in clear_button.

function clear_button_Callback(hObject, eventdata, handles)
global Pe t
P11 = [0;0];
P12 = [15;0];
P13 = [15/2;15*sin(pi/3)];
d3 = [210; 330; 90]*pi/180;
x0 = [Pe t];
'Value'));
% --- Executes on button press in open_loop_radio.

function open_loop_radio_Callback(hObject, eventdata, handles)
set(handles.open_loop_radio,'Value',1);
set(handles.joint_space_radio,'Value',0);
set(handles.task_space_radio,'Value',0);
PRR3_GUI_2_OpeningFcn(hObject, eventdata, handles)
grid off
grid minor
else
grid off
end
set(handles.status_text,'String','Open Loop Control Selected','ForegroundColor',[0
0 0]);
% --- Executes on button press in joint_space_radio.

function joint_space_radio_Callback(hObject, eventdata, handles)
set(handles.gain_slider,'Value',0.01);
set(handles.gain_edit,'String',num2str(get(handles.gain_slider,'Value')));
- 34 -
grid off
grid minor
else
grid off
end
set(handles.status_text,'String','Joint Space Closed Loop Control
Selected','ForegroundColor',[0 0 0]);
% --- Executes on button press in task_space_radio.

function task_space_radio_Callback(hObject, eventdata, handles)
set(handles.gain_slider,'Value',0.3);
grid off
grid minor
else
grid off
end
set(handles.status_text,'String','Task Space Closed Loop Control
Selected','ForegroundColor',[0 0 0]);
% --- Executes on button press in circle_radio.

function circle_radio_Callback(hObject, eventdata, handles)
set(handles.circle_radio,'Value',1);
set(handles.ellipse_radio,'Value',0);
grid off
grid minor
else
grid off
end
set(handles.status_text,'String','Circle to be Traced','ForegroundColor',[0 0 0]);
% --- Executes on button press in ellipse_radio.

function ellipse_radio_Callback(hObject, eventdata, handles)
set(handles.circle_radio,'Value',0);
set(handles.ellipse_radio,'Value',1);
grid off
grid minor
else
grid off
end
set(handles.status_text,'String','Ellipse to be Traced','ForegroundColor',[0 0 0]);

function simulation_time_slider_Callback(hObject, eventdata, handles)
set(handles.trace_simulation_time_edit,'String',num2str(get(handles.simulation_time
_slider,'Value')));
- 35 -
function simulation_time_slider_CreateFcn(hObject, eventdata, handles)
end
function trace_simulation_time_edit_Callback(hObject, eventdata, handles)

if(str2num(get(handles.trace_simulation_time_edit,'String'))>=get(handles.simulatio
n_time_slider,'Min') &
str2num(get(handles.trace_simulation_time_edit,'String'))<=get(handles.simulation_t
ime_slider,'Max'))
set(handles.simulation_time_slider,'Value',str2num(get(handles.trace_simulation_tim
e_edit,'String')));
else
set(handles.trace_simulation_time_edit,'String',num2str(get(handles.simulation_time
_slider,'Value')));
end

function trace_simulation_time_edit_CreateFcn(hObject, eventdata, handles)
if ispc && isequal(get(hObject,'BackgroundColor'),
set(hObject,'BackgroundColor','white');
end

function gain_slider_Callback(hObject, eventdata, handles)

function gain_slider_CreateFcn(hObject, eventdata, handles)
end
function gain_edit_Callback(hObject, eventdata, handles)

if(str2num(get(handles.gain_edit,'String'))>=get(handles.gain_slider,'Min') &
str2num(get(handles.gain_edit,'String'))<=get(handles.gain_slider,'Max'))
set(handles.gain_slider,'Value',str2num(get(handles.gain_edit,'String')));
else
end

function gain_edit_CreateFcn(hObject, eventdata, handles)
end

function phie_desired_slider_Callback(hObject, eventdata, handles)
- 36 -
set(handles.phie_desired_edit,'String',num2str(get(handles.phie_desired_slider,'Val
ue')*180/pi,'%3.2g'));
set(handles.phiedot_desired_slider,'Value',0);
set(handles.phiedot_desired_edit,'String',num2str(get(handles.phiedot_desired_slide
r,'Value')*180/pi,'%3.2g'));
% pause;

function phie_desired_slider_CreateFcn(hObject, eventdata, handles)
end
function phie_desired_edit_Callback(hObject, eventdata, handles)

if(str2num(get(handles.phie_desired_edit,'String'))*pi/180>=get(handles.phie_desire
d_slider,'Min') &
str2num(get(handles.phie_desired_edit,'String'))*pi/180<=get(handles.phie_desired_s
lider,'Max'))
set(handles.phie_desired_slider,'Value',str2num(get(handles.phie_desired_edit,'Stri
ng'))*pi/180);
set(handles.phiedot_desired_slider,'Value',0);
r,'Value')*180/pi,'%3.2g'));
else
ue')*180/pi,'%3.2g'));
end

function phie_desired_edit_CreateFcn(hObject, eventdata, handles)
end

function phiedot_desired_slider_Callback(hObject, eventdata, handles)
r,'Value')*180/pi,'%3.2g'));
set(handles.phie_desired_slider,'Value',0);
ue')*180/pi,'%3.2g'));

function phiedot_desired_slider_CreateFcn(hObject, eventdata, handles)
end
function phiedot_desired_edit_Callback(hObject, eventdata, handles)

if(str2num(get(handles.phiedot_desired_edit,'String'))*pi/180>=get(handles.phiedot_
desired_slider,'Min') &
str2num(get(handles.phiedot_desired_edit,'String'))*pi/180<=get(handles.phiedot_des
ired_slider,'Max'))
- 37 -
set(handles.phiedot_desired_slider,'Value',str2num(get(handles.phiedot_desired_edit
,'String'))*pi/180);
set(handles.phie_desired_slider,'Value',0);
ue')*180/pi,'%3.2g'));
else
r,'Value')*180/pi,'%3.2g'));
end

function phiedot_desired_edit_CreateFcn(hObject, eventdata, handles)
end
% --- Executes on button press in display_names_checkbox.

function display_names_checkbox_Callback(hObject, eventdata, handles)
global Pe t
P11 = [0;0];
P12 = [15;0];
P13 = [15/2;15*sin(pi/3)];
d3 = [210; 330; 90]*pi/180;
% t = [30; 150; 270]*pi/180;
'Value'));
function ymax_limit_edit_Callback(hObject, eventdata, handles)

if(str2num(get(handles.ymax_limit_edit,'String'))>-5 &
str2num(get(handles.ymax_limit_edit,'String'))<20)
elseif(str2num(get(handles.ymax_limit_edit,'String'))<str2num(get(handles.ymin_limi
t_edit,'String')))
set(handles.ymax_limit_edit,'String','20');
else
end

function ymax_limit_edit_CreateFcn(hObject, eventdata, handles)
end
function ymin_limit_edit_Callback(hObject, eventdata, handles)

if(str2num(get(handles.ymin_limit_edit,'String'))>-5 &
str2num(get(handles.ymin_limit_edit,'String'))<20)
- 38 -
elseif(str2num(get(handles.ymin_limit_edit,'String'))>str2num(get(handles.ymax_limi
t_edit,'String')))
set(handles.ymin_limit_edit,'String','-5');
else
set(handles.ymin_limit_edit,'String','-5');
end

function ymin_limit_edit_CreateFcn(hObject, eventdata, handles)
end
function xmin_limit_edit_Callback(hObject, eventdata, handles)

if(str2num(get(handles.xmin_limit_edit,'String'))>-5 &
str2num(get(handles.xmin_limit_edit,'String'))<20)
elseif(str2num(get(handles.xmin_limit_edit,'String'))>str2num(get(handles.xmax_limi
t_edit,'String')))
set(handles.xmin_limit_edit,'String','-5');
else
set(handles.xmin_limit_edit,'String','-5');
end

function xmin_limit_edit_CreateFcn(hObject, eventdata, handles)
end
function xmax_limit_edit_Callback(hObject, eventdata, handles)

if(str2num(get(handles.xmax_limit_edit,'String'))>-5 &
str2num(get(handles.xmax_limit_edit,'String'))<20)
elseif(str2num(get(handles.xmax_limit_edit,'String'))<str2num(get(handles.xmin_limi
t_edit,'String')))
set(handles.xmax_limit_edit,'String','20');
else
end

function xmax_limit_edit_CreateFcn(hObject, eventdata, handles)
end
% --- Executes on button press in display_scale_checkbox.

function display_scale_checkbox_Callback(hObject, eventdata, handles)
else
end
- 39 -
% --- Executes on button press in maximal_radio.
function maximal_radio_Callback(hObject, eventdata, handles)
set(handles.maximal_radio,'Value',1);
set(handles.dextrous_radio,'Value',0);
set(handles.const_orientation_radio,'Value',0);
set(handles.xmin_limit_edit,'String','0');
set(handles.ymin_limit_edit,'String','0');
% --- Executes on button press in dextrous_radio.

function dextrous_radio_Callback(hObject, eventdata, handles)
% --- Executes on button press in const_orientation_radio.

function const_orientation_radio_Callback(hObject, eventdata, handles)
% --- Executes on button press in grid_checkbox.

function grid_checkbox_Callback(hObject, eventdata, handles)
grid off
grid minor
else
grid off
end
- 40 -

3PRR Planar Parallel Manipulator Analysis

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3PRR Planar Parallel Manipulator Analysis

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KINEMATIC MODELING AND ANALYSIS OF

3-PRR PARALLEL MANIPULATOR

Department of Mechanical and Aerospace Engineering

The analysis of 3-PRR manipulators is carried out. Forward and Inverse

Figure 1-1 Different configurations of the 3-PRR parallel manipulator

1.2 Challenges Involved

Chapter 3 deals with kinematic modeling of the manipulator.

Chapter 4 provides algorithms used for implementing the GUI.

Chapter 6 closes the report with a discussion.

2.2 Measure of Manipulability

The following measures of manipulability (indices) are considered in this study:

2. Manipulability index and condition number

From which we get

P13 (x3, y3)

3.1.1 Forward Pose Kinematics

The forward pose kinematics problem is as follows:

Considering the point P31 to break the loop, we have

JJJG JJG ⎡ d 1 cos β 1⎤ ⎡ a11 cos θ 11⎤

x 2 + d 2 cos β 2 + a12 cos θ 12 = xe + a 22 cos (ϕ e + δ 32 )

3.1.2 Inverse Pose Kinematics

The inverse pose kinematics problem is as follows:

Known: xe, ye and φe

Unknown: θ11, θ12, θ13, d1, d2 and d3

x31 = xe + a 21 cos (ϕ e + δ 31)

x 21 = x31 + a11 cos (θ 21)

Solving the above quadratic equation for t, we get

Similarly, θ12, θ13, d2 and d3 can be evaluated.

Hence, the inverse pose kinematics has a closed loop solution.

3.2 Jacobian Matrix Evaluation

x1 + d 1 cos β 1 + a11 cos θ 11 = xe + a 21 cos (ϕ e + δ 31)

Differentiating the above set of equations, we have

The above equation can be written in the form,

Collect d1, d2, d3, xe, ye, φe,

Consider current (xe,ye,φe) as

If Change intial guess (x0)

Solve using FSOLVE

Collect xe, ye, φe,

Solve using closed form

Invoke Forward Kinematics

4.1.4 Yoshikawa’s/Condition Number Manipulability Index

Collect xmin, xmax, ymin, ymax, φe,

Invoke Inverse Kinematics w=0

Iterate if x<xmax If solution No

4.1.5 Workspace Analysis

Collect xmin, xmax, ymin, ymax,

x = xmin->xmax, y = ymin->ymax and φe=0->360

Invoke Inverse Kinematics Ignore (x,y)

Iterate if x<xmax If solution No

4.1.5.2 Dextrous Workspace

Collect xmin, xmax, ymin, ymax,

x = xmin->xmax, y = ymin->ymax and φe=0->360

Invoke Inverse Kinematics Ignore (x,y)

Iterate if x<xmax If solution exists No

4.1.5.3 Constant Orientation Workspace

Invoke Inverse Kinematics Ignore (x,y)

Iterate if x<xmax If solution exists No

4.1.6 Path Tracking

Calculate Xd and Xd (Circle/Ellipse)

4.2 Development of MATLAB program and GUI

Yoshikawa’s manipulability index and condition number index.

(a) (b) (c)

3. Path Tracking Performance Analysis:

D = [d1 d2 d3 t11 t12 t13];

h11 = line([P11(1) P11(1)+d(1)*cos(b(1))], [P11(2)

Calculate Xd and Xd (Circle/Ellipse)