Solved by Expert Tutors
Solved by Expert Tutors
Question

matlab code

merge_from_ofoct.jpg
Design a robot configuration as shown below with a linear joint (R) and a rotary joint (0). The linear joint
can slide along a slot, which is set up at o degree w.r.t. X-axis. The fixed link dimension is a (mm).
Write a simulation/animation program to demonstrate your inverse kinematics answer that allow the
user to design the link dimensions(a and o) and input the end position p(x,y). Limit the graphic space
within -120 to 120 mm for both x- and y-axes
X2 x
You
You
D
P2
O P4
YI
PI
P3
R
X1
300
Xo
Xo
(a) (forward kinematics problem) Given link dimensions (a and o) and joint variables (R and 0 ), derive
the end position p(x,y) in terms of the based (Xo Yo) coordinate system (i.e. find the overall
transformation matrix A for Po = A*P2 where A=0Al*IA2).
(b) (Inverse kinematics problem) Given an end-point position p(x,y) in (XoYo) coordinate system and
link dimensions (a and o), determine the joints variables (R and 0).
(c) Write a simulation/animation program to demonstrate your inverse kinematics answer that allow the
user to design the link dimensions(a and o) and input the end position p(x,y). Limit the graphic space
within -120 to 120 mm for both x- and y-axes
(d) Extending your program that let the user input a successive points, PI, P2, P3, ..., your robot end
point has to move from Pi to P2 with linear path, likewise for P2 to P3, and so forth.

Step-by-step answer

ce dui lectus, congue vel laoreet ac, dictum vitae odio. Donec aliquet. Lorem

ec facilisis. Pellentesque dapibus efficitur laoreet. Nam risus ant


s a molestie

a mo

usce

s a mol

rem ipsum


at, ultrices ac magna. Fusce dui lectus, congue vel laoreet ac, dictum vi


e vel l


entesque dap

sum dol

nec

ec facilisis

dictum vitae odio. Donec aliquet. Lorem ipsum dolor sit amet, consectetur adipiscing elit. Nam lacinia pulvinar tortor nec f


trices ac magna. Fu

trices ac magna. Fusce dui


pulvin

sum dol

nec

, ultrices ac magna. Fusce dui lectu

a molesti

m ipsum dolor sit amet, consectetur adipiscing elit.

onec aliquet. Lorem ipsum dolor sit amet, consectetur adipiscing elit. Nam lacinia pulvinar tortor nec facilisis. Pellentesque dapib

, consectetur adipiscing el

, consectetur adipiscing elit. Nam

itur laoreet. Nam risus ante, dapibus a molestie consequat, ultri

ec facilisis. Pe

ongue vel laoreet ac, dictum vitae odio. Donec aliquet. Lorem ipsum dolor sit am

molestie consequa

or nec facilisis. Pellentesque dapibus effic

, dictum vitae o

, ultrices ac ma

at,


m ipsum

sum dol

usce

, ultrices ac magna. Fusce dui lectu

a molesti

m ipsum dolor sit amet, consectetur adipiscing elit.

onec aliquet. Lorem ipsum dolor sit amet, consectetur adipiscing elit. Nam lacinia pulvinar tortor nec facilisis. Pellentesque dapib

, consectetur adipiscing el

, consectetur adipiscing elit. Nam

itur laoreet. Nam risus ante, dapibus a molestie consequat, ultri

ec facilisis. Pe

ongue vel laoreet ac, dictum vitae odio. Donec aliquet. Lorem ipsum dolor sit am

or nec facilisis. Pellentesque dapibus effic

, dictum vitae o

, dictum vitae o

lestie consequat, ultrices ac

dictum vitae odio. Donec aliquet.

sus ante, dapibus a molestie cons

nec facilisis. Pellentesque dapibus efficitur laoreet. Nam risus ante, dapibus a molestie consequat, ultrices ac magna. Fusce dui

ng elit. Nam lacinia pulvinar tortor nec facilisis. Pellentesque dapibus efficitur laoreet. Nam risus ante, dapibus a molestie consequat, ultrices ac mag

acinia pulvinar tortor nec facilisis. Pelle

ng elit. Nam lacinia pulvinar tortor nec facilisis.

sus ante, dapibus a molestie consequat, ultrices ac magna. Fusce dui lectus, congu

congue vel laoreet ac, dictum v

o. Donec aliquet. Lorem ipsum dolor sit amet, consectetur adipiscing elit. Nam lacinia pulvinar torto

lestie consequat, ultrices ac magna. Fusce dui lectus, congue

ce dui lectus, congue vel laoree

fficitur laoreet. Nam risus ante,

nec facilisis. Pe

congue vel

iscing elit. Nam lacin

at,

Subscribe to view the full answer

Why Join Course Hero?

Course Hero has all the homework and study help you need to succeed! We’ve got course-specific notes, study guides, and practice tests along with expert tutors.

  • -

    Study Documents

    Find the best study resources around, tagged to your specific courses. Share your own to gain free Course Hero access.

    Browse Documents
  • -

    Question & Answers

    Get one-on-one homework help from our expert tutors—available online 24/7. Ask your own questions or browse existing Q&A threads. Satisfaction guaranteed!

    Ask a Question