{[ promptMessage ]}

Bookmark it

{[ promptMessage ]}

# a2 - CSE4421/5324 Assignment 2 Burton Ma Posted Thu Due Fri...

This preview shows pages 1–2. Sign up to view the full content.

CSE4421/5324: Assignment 2 Burton Ma Posted: Thu Feb 09, 2012 Due: Fri Mar 02, 2012 The Denavit-Hartenberg 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

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

View Full Document
solutions disregarding the physical constraints on the joint angles), and then indicate which set applies to the A150/255 arm.
This is the end of the preview. Sign up to access the rest of the document.

{[ snackBarMessage ]}

### Page1 / 2

a2 - CSE4421/5324 Assignment 2 Burton Ma Posted Thu Due Fri...

This preview shows document pages 1 - 2. Sign up to view the full document.

View Full Document
Ask a homework question - tutors are online