{[ promptMessage ]}

Bookmark it

{[ promptMessage ]}

HW4_quiz_review_revB

# HW4_quiz_review_revB - ECE194D Dueinclass,Tues.May24...

This preview shows pages 1–3. Sign up to view the full content.

ECE 194D Homework 4 – Extra Credit Quiz Review Due in class, Tues. May 24 Page 1 of 5 Homework 4 – Extra Credit Problem 1 This problem involves the standard, 2-link, planar robot arm we’ve discussed several times in class. Figure 1 shows a cartoon of an arm, where θ 1 is the absolute angle of link 1, with respect to the x axis, and where θ 2 is the relative angle of link 1, with respect to θ 1 . (Both angles are measured in the counter-clockwise direction.) Lengths are intentionally NOT drawn to scale! Fig. 1: Link lengths, L 1 and L 2 , are not drawn to scale, and angles do not correspond to the solution configuration! Say you have a 2-link arm that is in a geometric configuration such that the Jacobian is: ܬ ൌ ቂ െ3.5 െ1.5 2 3 a) Sketch the 2-link arm corresponding to this Jacobian (to scale). Label the coordinates of the elbow (x m , y m ) and of the end effector (x e , y e ). Recall: ߦ ൌ ܬݍ . Here, ߦ ൌ ቂ ݔ ݕ and ݍ ൌ ൤ ߠ ߠ .

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

View Full Document
ECE 194D Problem a) For th are requi b) Derive are no ap Also assu Fig. 2 – Th Defini
This is the end of the preview. Sign up to access the rest of the document.
• Fall '09
• Extra Credit Quiz, CreditÂ QuizÂ Review