# Proje - M8427 Introduction to Robotics Projects Proposal...

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M8427 Introduction to Robotics Projects Proposal Guidelines: 1. Divide yourself into two groups each group will do one project 2. Your simulation can be done using MATLAB or any other software of programming languages you might like to use 3. Your submitted project should be done according to technical writing format which should include the following: Abstract, Introduction, Methodolory of the solution, results and discussion, conclusion and recommendations, references, and appendix. 4. A11 simulations and programs should be available in softcopy submitted with the project on a CD/DVD. 5. Deadline for the project is on the final Exam Date just after your final examination and should be handed in with the final exam.

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ProJect 1: This project focuses on the Jacobian matrix and determinant, simulated resolved-rate control, and inverse statics for the planar 3-DOF, 3R robot. (See Figures below (Craig's Figs 3.6, 3.7, 3.8). I l 8tl \ .,: '**---r_ The resolved-rate control method is based on the manipulator velocity equation k [email protected] r-r i, the Jacobian matrix, @ is the vector of relative joint rates, k * i" the vector of commanded Cartesian velocities (both translational and rotational), and k is the frame of expression for the Jacobian matrix and Cartesian velocities. This figure shows a block diagram for simulating the resolved-rate control algorithm: \,,,, ). I I ,. I -.-\l L,/ .bl (b) t fli-1" {tt-t dt 61 1 0 0 u 0y 0 Lt 0 #3 0 14 0 d3
Resolved-Rate -AI garithm *.la ck D r*gr am As is seen in the figure, the resolved-rate algorithm calculates the required commanded joint rates @" to provide the commanded Cartesian velocities*"; this diagram must be calculated at every simulated time step. The Jacobian matrix changes with [email protected] For simulation purposes, assume that the commanded joint angles @" are always identical to the actual joint angles achieved, @ I @ result rarely true in the real world). For the planar 3-DOF, 3R robot assigned, the velocity equations k [email protected] k = 0 are -Lesn * Lustx Lzrzz* L3c1u 4 -t wheresl23 =sin(4 +02+01), cnz =cos(d1 +02+03),andsoon.Note that0x givesthe cartesian velocities of the

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## This note was uploaded on 05/12/2011 for the course ME 427 taught by Professor Vedattemiz during the Spring '11 term at Işık Üniversitesi.

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Proje - M8427 Introduction to Robotics Projects Proposal...

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