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Prof. Katie
1) Kinem
class and
different
below), d
label eac
A
B
C
d
fo
Recall th
dexterou
2) Euler
designed
(orientati
[1]
A
[2]
A
In either
We will r
A standa
through 6
e Byl
matics and w
d shown in th
possible len
determine bo
h region.
A)
L
1
=1, L
2
=
B)
L
1
=1, L
2
=
C)
Now, ass
exterous wo
or L
3
for wh
hat the reach
s workspace
r angles.
W
d to build b
ion) of a rigi
A relative co
An absolute
case, we req
refer to case
Figur
ard America
6 are arrange
Homew
workspace.
he figure be
ngths for eac
oth i) the rea
=1, L
3
=0.2
2, L
3
=1
sume: L
1
=0.
orkspace alw
ich a dextero
hable worksp
e is the set of
Figure 1
e mentione
better intuiti
id body.
Ro
oordinate fra
coordinate f
quire 3 rotat
e 1 as “Euler
re 2. Local c
an die (e.g.,
ed such that
Ho
P
work 1
(D
Consider th
low.
Note t
ch of the thre
achable wor
5, and L
2
=0
ays exist? If
ous workspa
pace is the s
f all points th
1. Kinematic
d Euler ang
ion about th
tation angle
me, that is f
frame, that re
ions to spec
angle rotati
coordinate fr
from a set
the number
omework 1
Page 1 of 5
ue Friday, A
he kinematic
that this draw
ee links.
For
kspace and i
0.6. Given s
f so, explain
ace
will
exist
set of all poi
he end effect
cs of 3link a
gle rotations
he conventio
s can be spe
fixed to the r
emains fixed
ify any arbit
on” and case
rame definiti
Las Vegas
s on opposit
April 15, at 5
cs of the 3li
wing is not t
r each set of
ii) the dexte
some arbitra
n why.
If no
t.
ints the end
t can reach a
arm (problem
only briefl
ons typicall
cified either
otating body
d; i.e., a glob
trary orienta
e 2 as “fixed
ion for dice i
dice) is sho
te faces alwa
pm)
ink arm exam
to scale. We
f lengths giv
erous worksp
ary value fo
ot, specify th
effector can
at an arbitra
m 1).
ly in class.
ly used to
r with respec
y
bal coordinat
ation of a rig
d angle rotati
in problem 2
own above.
ays sum to 7
Spring
Due 4/15/
mple discuss
wish to con
en (sets A an
pace.
Sketch
or L
3
, will
he range of v
n reach, whil
ary angle.
This proble
specify rota
ct to:
te frame.
gid body in s
ion”.
2.
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This document was uploaded on 12/29/2011.
 Fall '09

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