Difference between revisions of "ECE-370: FK for Serial Manipulator"
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| − | + | 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 | -0.58850 -0.80850 0.00000 0.32553 | ||
0.80850 -0.58850 0.00000 0.36597 | 0.80850 -0.58850 0.00000 0.36597 | ||
| Line 6: | Line 22: | ||
0.00000 0.00000 0.00000 1.00000 | 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. | ||
Latest revision as of 14:57, 31 March 2019
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.
