ps6 - Massachusetts Institute of Technology Department of...

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Unformatted text preview: Massachusetts Institute of Technology Department of Mechanical Engineering 2.12 Introduction to Robotics Problem Set No.6 Out: October 31, 2005 Due: November 9, 2005 Problem 1 A robot arm is drawing a line with a ruler, as shown below. The ruler is held by another robot arm, which is not shown. Assume no friction and a quasi-static process. a). Obtain natural and artificial constraints, using the C-frame attached to the ruler. b). Sketch the block diagram of the hybrid position/force control system in accordance with the natural and artificial constraints obtained above. Also obtain the projection matrices P a and P c associated with the natural and artificial constraints. Figure 1 Ruler and C-frame Problem 2 Shown below is an office robot drying ink with blotting paper attached to a semicircular roller of radius R . The roller should not slide but roll on the paper in order to avoid smearing the wet signature. Assuming that the process is quasi-static and friction- less, we want to perform the task using hybrid position/force control. Obtain natural and less, we want to perform the task using hybrid position/force control....
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This note was uploaded on 02/24/2012 for the course MECHANICAL 2.12 taught by Professor Harryasada during the Fall '05 term at MIT.

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ps6 - Massachusetts Institute of Technology Department of...

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