# HW3 - • Write a MATLAB program for the forward kinematics...

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Department of Mechanical Engineering MEEN 408/612 Spring 2009 Homework III Due Date: 24 February 2009 1. You have considered the following robot in Homework 2. In this homework, we will Figure 1: A sketch of the body of Adept Robot deal with the forward and inverse kinematics for this robot. Pick a set of values for the joint variables and determine the position of the origin and attitude of the the last link in the base frame. Let the corresponding transformation matrix be T f , i.e., T f provides the position of the origin and attitude of the last link in the base frame. Given T f , ±nd the joint variables. Use the methods taught in the class. Clearly, there should at least be one solution.
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Unformatted text preview: • Write a MATLAB program for the forward kinematics which takes the D-H parameter table and the values of the joint variables as the input and outputs the transformation matrix T f . • Write a MATLAB program for the inverse kinematics which takes the D-H pa-rameter table and the transformation matrix T f as the input and outputs the joint variables. 2. This problem concerns the Jacobian. Remove the last three links for the sake of simplicity. Determine the relationship between the joint velocities and the linear velocity of the end e²ector in the base frame; similarly, determine the relationship between the joint velocities and the angular velocity of the end e²ector. What is the Jacobian? 1...
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