Department of Mechatronics Engineering Air University

Lab # 7
Objective
Determine the position and orientation of a Stanford Scheinman Arm (having 6-DOF) and
verify the analytical solution using Corke Matlab Robotics Toolbox.

Lab Exercise
Consider a Stanford Scheinman Arm as shown in figure below assuming the fixed-length
parameters as = 10, = 30.

Advance Robotics Lab Spring 2016

Department of Mechatronics Engineering Air University

Show the following results:

(a) Determine the link / DH parameters of the Stanford arm.

(b) Derive the neighboring homogeneous transformation matrice using the DH parameters.
(c) Calculate the forward pose kinematics results for for the above input cases
Verify the solution for the above cases using Corke Matlab Robotics Toolbox.

Advance Robotics Lab Spring 2016