CSE4421/5324: Assignment 2
Burton Ma
Posted: Thu Feb 09, 2012
Due: Fri Mar 02, 2012
The DenavitHartenberg parameters for the A150/255 robot shown in the figure are
a
α
d
θ
1
0
90
10 (254)
θ
1
2
10 (254)
0
0
θ
2
3
10 (254)
0
0
θ
3
4
0
90
0
θ
4

90
5
0
0
2 (50.8)
θ
5
Figure 1: Frame locations for the A150 and A255 robots. The A150 uses dimensions in inches, and the
A255 uses dimensions in millimeters. The wrist center
o
c
is located at the origin of frames 3 and 4.
1. Derive the matrix
T
3
5
using the DH parameters; you will need the individual matrix entries for the
next step.
2. Solve the inverse kinematics problem for the wrist; i.e., given
T
3
5
solve for the values of
θ
4
and
θ
5
.
3. Solve the inverse kinematics problem for the first three joints given the wrist center
o
0
c
=
x
c
y
c
z
c
T
;
i.e., given
o
0
c
solve for the values of
θ
1
,
θ
2
, and
θ
3
. Try to find all of the possible solutions (i.e., find all
1
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solutions disregarding the physical constraints on the joint angles), and then indicate which set applies
to the A150/255 arm.
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 Winter '11
 BURTON
 matlab, Vector Space, inverse kinematics problem, Burton Ma

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