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Unformatted text preview: 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 d 1 90 10 (254) 1 2 10 (254) 2 3 10 (254) 3 4-90 4- 90 5 2 (50.8) 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 4 and 5 . 3. Solve the inverse kinematics problem for the first three joints given the wrist center o c = x c y c z c T ; i.e., given o c solve for the values of 1 , 2 , and 3 . Try to find all of the possible solutions (i.e., find all 1 solutions disregarding the physical constraints on the joint angles), and then indicate which set applies...
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This note was uploaded on 02/13/2012 for the course CSE 4421 taught by Professor Burton during the Winter '11 term at York University.
- Winter '11