Unformatted text preview: • Write a MATLAB program for the forward kinematics which takes the DH 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 DH parameter 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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 Spring '09
 SwaroopDarbha
 Mechanical Engineering, Velocity, joint variables

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