ME427HW3solutionm

ME427HW3solutionm - Isik University Faculty of the College...

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Isik University Faculty of the College of Engineering Mechanical Engineering Department ME 427 INTRODUCTION TO ROBOTICS HW No. 3 SOLUTION NOTE: EXTRA EXAMPLES ARE INCLUDED THAT WERE NOT PART OF HOMEWORK PROBLEMS SET ARE INCLUDED Student’s Name:_ _______________________________________________ Student’s No.___________________________________________________ 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
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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
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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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ME427HW3solutionm - Isik University Faculty of the College...

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