Difference between revisions of "ECE-370: FK for Serial Manipulator"

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Line 15: Line 15:
 
* z = 0.00000
 
* z = 0.00000
 
* theta about z = 126.05 deg
 
* 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:
 
Todo:
Line 25: Line 31:
 
* Your implementation of each item in the TODO list.
 
* Your implementation of each item in the TODO list.
 
* Your MATLAB and/or Python implementation via github.
 
* Your MATLAB and/or Python implementation via github.
 
 
T =
 
 
  -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
 
 
xe =  0.32553
 
ye =  0.36597
 
t =  126.05
 

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.