This problem is to be solved using Matlab Code: Again, this problem is to be solved using Matlab Code: Once again, this
Posted: Fri Mar 04, 2022 10:14 am
This problem is to be solved using Matlab Code:
Again, this problem is to be solved using Matlab Code:
Once again, this problem is to be solved using Matlab
Code:
This exercise focuses on DH parameters and on the forward-pose (position and orientation) kinematics transformation for the planar 3-DOF, 3R robot discussed in the class (also shown in the figures below). The following fixed-length parameters are given: L1 = 4, L2 = 3 and L3 = 2 (m). a) Derive the neighboring homogeneous transformation matrices :-47, i = 1, 2, 3. These are functions of the joint-angle variables 0i, i=1,2,3. Also, derive the constant T by inspection: {H) is the tool frame. The origin of {H} is in the center of the gripper fingers, and the orientation of {H} is always the same as the orientation of {3}. b) Derive the forward-pose kinematics solution 37 and T. Calculate the forward-pose kinematics results (both T and T) for the following input cases: I. © = {01 02 03}T= {0003" II. © = {10° 20° 30°;" III. © = 90° 90° 90°
83 Az 02 N Y 3 12 %o 92 2 À, a (a)
- This Problem Is To Be Solved Using Matlab Code Again This Problem Is To Be Solved Using Matlab Code Once Again This 1 (138.97 KiB) Viewed 49 times
- This Problem Is To Be Solved Using Matlab Code Again This Problem Is To Be Solved Using Matlab Code Once Again This 2 (61.71 KiB) Viewed 49 times
Code:
This exercise focuses on DH parameters and on the forward-pose (position and orientation) kinematics transformation for the planar 3-DOF, 3R robot discussed in the class (also shown in the figures below). The following fixed-length parameters are given: L1 = 4, L2 = 3 and L3 = 2 (m). a) Derive the neighboring homogeneous transformation matrices :-47, i = 1, 2, 3. These are functions of the joint-angle variables 0i, i=1,2,3. Also, derive the constant T by inspection: {H) is the tool frame. The origin of {H} is in the center of the gripper fingers, and the orientation of {H} is always the same as the orientation of {3}. b) Derive the forward-pose kinematics solution 37 and T. Calculate the forward-pose kinematics results (both T and T) for the following input cases: I. © = {01 02 03}T= {0003" II. © = {10° 20° 30°;" III. © = 90° 90° 90°
83 Az 02 N Y 3 12 %o 92 2 À, a (a)