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# Lecture3Web - Homework#1 Solutions So Velocity Kinematics...

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2/16/2010 1 Homework #1 Solutions Velocity Kinematics: The Jacobian Manipulator Lab #1 Midterm Project Intro ME 598A: Introduction to Robotics ME 598A: INTRODUCTION TO ROBOTICS Velocity Kinematics / Jacobian Spring 2010 * Some slides courtesy of Jonathan Fiene, University of Pennsylvania* Announcements ME 598A: INTRODUCTION TO ROBOTICS Velocity Kinematics / Jacobian

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2/16/2010 2 Homework #1 Solutions ME 598A: INTRODUCTION TO ROBOTICS Velocity Kinematics / Jacobian
2/16/2010 3 Review: Forward Kinematics ME 598A: INTRODUCTION TO ROBOTICS Velocity Kinematics / Jacobian Denavit-Hartenberg Convention ME 598A: INTRODUCTION TO ROBOTICS Velocity Kinematics / Jacobian

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2/16/2010 4 Denavit-Hartenberg Convention ME 598A: INTRODUCTION TO ROBOTICS Velocity Kinematics / Jacobian Denavit-Hartenberg Transform ME 598A: INTRODUCTION TO ROBOTICS Velocity Kinematics / Jacobian
2/16/2010 5 Review: Inverse Kinematics ME 598A: INTRODUCTION TO ROBOTICS Velocity Kinematics / Jacobian Algebraic Decomposition ME 598A: INTRODUCTION TO ROBOTICS Velocity Kinematics / Jacobian

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2/16/2010 6 Geometric Analysis ME 598A: INTRODUCTION TO ROBOTICS Velocity Kinematics / Jacobian Example P3.10 – PUMA 260 Manipulator θ 1 θ 2 θ Forward Kinematics Link a i α i d i θ i θ z 1 z 2 x 2 z 5 , z 6 x 1 d 2 3 x 4 x 5 θ 5 θ 6 d 6 x 6 x 3, 1 0 90 13” 1 2 8” 0 d 2 0 3 8” 90 0 0 4 0 -90 0 θ 4 5 0 90 0 θ 5 6 0 0 d 6 θ 6 ME 598A: INTRODUCTION TO ROBOTICS Velocity Kinematics / Jacobian z 4 z 3 θ 4
2/16/2010 7 Example P3.15 – Cylindrical manipulator + Spherical Wrist y x 2 z 2 z 4 z 3 , z 5 , z 6 x 4 θ 4 θ 5 θ d 6 x 5 z 0 y 0 o c z 1 x 1 y 1 2 6 y 3 x 3 Link a i α i d i θ i 1 0 0 1 θ 1 * 2 0 -90 d 2 * 0 3 0 0 1+d 3 * 0 ME 598A: INTRODUCTION TO ROBOTICS Velocity Kinematics / Jacobian x 0 4 0 -90 0 θ 4 * 5 0 90 0 θ 5 * 6 0 0 d 6 θ 6 * Velocity Kinematics: The Jacobian ME 598A: INTRODUCTION TO ROBOTICS Velocity Kinematics / Jacobian

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2/16/2010 8 Robot Video of the Day ME 598A: INTRODUCTION TO ROBOTICS Velocity Kinematics / Jacobian Differential Motion ME 598A: INTRODUCTION TO ROBOTICS Velocity Kinematics / Jacobian
2/16/2010 9 The Position Jacobian

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