ME427-HW3-207ME2117

ME427-HW3-207ME2117 - Isik University Faculty of the...

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Unformatted text preview: Isik University Faculty of the College of Engineering Mechanical Engineering Department ME 427 INTRODUCTION TO ROBOTICS HW No. 3 Date: Wednesday,April 14, 2011 Due Date: April 14, 2011 Student’s Name:________MÜNÜR MERT KIRAÇ_________________ Student’s No.________________207ME2117______________________ Scoring Box Question Number Maximum Score Obtained Score Q1 20 Points Q2 15 Points Q3 10 Points Q4 10 Points Q5 10 Points Q6 15 Points Q7 20 Points Total Score 100 points Q1. In the Figure below, the location of the tool, T W T , is not accurately known. Using force control, the robot feels around with the tool tip until it inserts it into the socket (or Goal) at location T S G . Once in this "calibration" configuration (in which {G} and {T) are coincident), the position of the robot, T B W is figured out by reading the joint angle sensors and computing the kinematics. Assuming T B S and T S G are known, give the transform equation to compute the unknown tool frame, T W T . ¡ ¢ £ £ ¤ ¥ ¤ ¡ ¦¦¦¦¦¦¦¦¦¦¦¦¦¦¦¦¦¦¦¦¦¦¦¦¦¦ § ¨ ¥ ¦ ¢ £ ¤ ©ª ¡ ¥ ¤ ¡ ¦¦¦¦¦¦¦¦¦¦¦¦¦¦¦¦¦¦¦¦¦¦¦ ¨ ¥ £ Q2 . For the two-link manipulator shown in Fig. (a), the link-transformation matrices, T 1 and T 1 2 were constructed. Their product is The link-frame assignments used are indicated in Fig. (b). Note that frame {0) is coincident with frame {1} when θ 1 = 0. The length of the second link is L 2 . Find an expression for the vector tip P which locates the tip of the arm relative to the {0} frame....
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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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ME427-HW3-207ME2117 - Isik University Faculty of the...

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