ECE-370: FK for Serial Manipulator
From Lofaro Lab Wiki
Due: 2019-04-01
The goal of this homework is to implement forward kinematics for the simple serial manipulator as explained in class. The values for L0-L2 should be:
- L0 = 0.3
- L1 = 0.2
- L2 = 0.1
The values for theta (t) for joints t0-t2 are listed as follows (in radians):
- t0 = 0.4
- t1 = 0.6
- t2 = 1.2
Your expected end-effector location is:
- x = 0.32553
- y = 0.36597
- z = 0.00000
- theta about z = 126.05 deg
The expected final transform matrix for the matrix method is shown below:
-0.58850 -0.80850 0.00000 0.32553 0.80850 -0.58850 0.00000 0.36597 0.00000 0.00000 1.00000 0.00000 0.00000 0.00000 0.00000 1.00000
Todo:
- Implement forward kinematics using the long hand method (i.e. with cos() and sin())
- Implement forward kinematics using the matrix method
- Compare the results
- Determine the rotation about x, y, and z using both of the latter method.
Show me:
- Your implementation of each item in the TODO list.
- Your MATLAB and/or Python implementation via github.