NewtonRaphson_Multi-Variable Robot

# NewtonRaphson_Multi-Variable Robot - Two Degree of Freedom...

This preview shows pages 1–5. Sign up to view the full content.

Two Degree of Freedom Robot Arm Example Dr. Dragan Djurdjanovic ME 218 Fall 2008

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document
Introduction The figure on the right shows a simple robotic arm. The arm can be moved in the given plane by changing the angles θ 1 and θ 2 . Also, given the link lengths, d 1 and d 2 , and the final position, P, of the arm, the angles θ 1 and θ 2 can be evaluated. θ 1 θ 2 d 1 d 2 O P
The Problem Given this 2 degree of freedom robotic arm, with the following data: d 1 = 5 d 2 = 6 P = (3, 4) The 2 nd link is free to rotate about link 1, but is constrained such that 0<θ 2 <180 degrees We need to find out the possible orientations of the robot which allow the robot to place the end point P at the above location.

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document
Equating the x-coordinate position: P x = d 1 cos( θ 1 ) + d 2 cos( θ 1 + θ 2 ) 3 = 5cos( θ 1 ) + 6cos( θ 1 + θ 2 ) Equating the y-coordinate position: P y = d 1 sin( θ 1 ) + d 2 sin( θ 1 + θ 2 ) 4 = 5sin(
This is the end of the preview. Sign up to access the rest of the document.

## This note was uploaded on 06/23/2011 for the course ME 218 taught by Professor Unknown during the Fall '08 term at University of Texas at Austin.

### Page1 / 9

NewtonRaphson_Multi-Variable Robot - Two Degree of Freedom...

This preview shows document pages 1 - 5. Sign up to view the full document.

View Full Document
Ask a homework question - tutors are online