{[ promptMessage ]}

Bookmark it

{[ promptMessage ]}

pset_IV-06-2

# pset_IV-06-2 - MMAE 350 D Rempfer Problem Set IV Page 1 of...

This preview shows pages 1–2. Sign up to view the full content.

MMAE 350 D. Rempfer Problem Set IV Page 1 of 4 Due Date: October 11, 2006 1. We consider a robot-arm problem similar to the one discussed in class (see picture). A robot arm consisting of two segments of length r and l is con- trolled by adjusting the length of the two actuators a 1 and a 2 such that a desired position ( p x , p y ) of the tip of the arm is obtained. Write the M AT - LAB code that is necessary to find the actuator lengths s 1 , s 2 of actuator a 1 and a 2 , respectively, given the position of the end-point of the robot arm, ( p x , p y ), and the lengths of the two segments of the arm, r and l . You can do this by following these steps: l r d a 2 a 1 y x r/2 r/2 a. Write a M ATLAB m-file rpos that computes the position of the robot arm given the input parameters r , l , and a vector containing s 1 and s 2 . As its output, the function should return a single vector-valued variable containing the x - and y -position of the robot arm as its components. You may want to make sure the input lengths s 1 and s 2 are restricted appropriately (both must be positive, there are obvious restrictions on the allowed lengths for actuator a 2 , and you may assume that the first robot arm (of length r ) only moves within the first quadrant of the coordinate system shown). b. Write a M ATLAB m-file drpos that computes the Jacobian matrix of the function rpos , given the same input parameters as for rpos . As its output, this function should return a single matrix-valued variable containing the 4 elements of the Jacobian.

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document
This is the end of the preview. Sign up to access the rest of the document.

{[ snackBarMessage ]}

### Page1 / 4

pset_IV-06-2 - MMAE 350 D Rempfer Problem Set IV Page 1 of...

This preview shows document pages 1 - 2. Sign up to view the full document.

View Full Document
Ask a homework question - tutors are online