EN3563 — Robotics

Laboratory work for EN3563 Robotics, Department of Electronic & Telecommunication Engineering, University of Moratuwa (2025). All labs use MATLAB with Peter Corke's Robotics Toolbox.

Author: Kumarage R. V. (220343B)

Labs

Lab	Topic	Code	Report
Lab 01	Spatial descriptions: 2D and 3D frames, rotation matrices, intrinsic X-Y-Z rotations, RPY extraction	task_1.m, task_2.m	PDF
Lab 02	Homogeneous transformations: build and invert H, change frames for points, and a 3D table, box and camera scene with frames {0}–{3}	task_1.m, task_2.m, task_3.m	PDF
Lab 03	Puma 560: DH parameters, forward kinematics for canonical poses, analytical IK (ikine6s), unreachable poses, and quintic joint trajectories (jtraj) with 3D animation	code_submitted.m	PDF

Each lab folder also contains the lab sheet (lab-0X.pdf).

Setup

1. Install MATLAB.
2. Install the Robotics Toolbox for MATLAB and add it to the path. See Setup_instructions.pdf and the toolbox manual.
3. Run a lab script, for example:

cd 'Robotics Lab 03'
code_submitted