University of Jordan

Faculty of Engineering and Technology

Department of Mechatronics Engineering

Semester Project for Robotic Systems

A Writer Robotic Arm

Done by: Nama’ Al-Shamayleh

Supervisor: Lutfi Al-Sharif
 Contents
• Introduction
• Robot Definition
• Application Description
• Codes
• Challenges
• Further Work
 Introduction
• Robotic arms
• Predator
• Selected application
• Robotics Toolbox
 Robot Definition
The robot in our project is inspired by
Predator robotic arm which is produced
by Kraft TeleRobotics.
It is a 6-degrees-of-freedom (DOF)
manipulator with all joints being
revolute.
Robot Definition: Overview
Robot Definition: Frames Positions
Robot Definition: Frames Orientation
Robot Definition: D-H Parameters

Modified Denivat-Hartenberg notation

 Robot Definition: mdl_predator.m

% define links
L(1) = Revolute('d', 2.03, 'a', 1.56, 'alpha', pi/2);
L(2) = Revolute('d', 0, 'a', 8.75, 'alpha', 0);
L(3) = Revolute('d', 0, 'a', 5.66, 'alpha', 0);
L(4) = Revolute('d', 0, 'a', 1.21, 'alpha', -pi/2);
L(5) = Revolute('d', 0, 'a', 0, 'alpha', pi/2);
L(6) = Revolute('d', 0, 'a', 0, 'alpha', 0);

% connect the links to form the arm robot

predator = SerialLink(L, 'name', 'Predator')
Robot Definition: Workspace
 Application Description
• The application that the robot will operate to achieve is
writing.
• The robot will be programmed to write English capital letters,
following the 9-point system of writing.
• The 9-points system describes a method of writing letters, but
the robot will be able to write words letter-by-letter.
Application Description: 9-Points System
 Application Description: 9-Points System
Coordinates are chosen to be inside the workspace of the robot.
 Application Description: 9-Points System
Letters A to K are shown below as written in the 9-points system.
 Application Description: Writing Words
To write a word, the robot writes the first letter then moves to the right by 12 units to
start the next letter, and repeats this process until the word ends. See the figure
below for clearer explanation.
 Codes
The code that makes the robot write is written in two matlab
script files:
1. writeLetter.m to write a letter in the required position.
2. writeWord.m that uses writeLetter.m to write letters of a
given word.
 Codes: writeLetter.m
• The command writeLetter(‘C’, LN)makes the robot write
the letter ‘C’ in the position LN (means Letter Number).
• This function creates the appropriate 9 points, depending on
the letter's position, draw the shape of the letter using plot3
function, and finally write it using Cartesian trajectory function
ctraj.
• Nearly 700 lines of code needed to employ these operations.
• This function is case insensitive; it responses to upper- and
lower-case letters in the same way.
 Codes: writeWord.m
• The command writeWord(‘anyword’)makes the robot write
the word “anyword”.

• This function opens a 3D plot with the right width to

accommodate the whole word, and then calls writeLetter
function for each letter in the word.
 Codes: writeWord.m
This is the result when typing the command writeWord(‘Robotics’)in the
command window.
Codes

RUN
 Challenges

1. Problem with time.

2. The Robot "writer“: adding platform.

3. The orientation of writing surface.

 Further Work

1. Using mstraj function

2. Adding more characters

3. Adding Curves to the Writing System

Thank you.

Nama’ Al-Shamayleh
techa.nova@hotmail.com
21/12/2016