ECE-370: FK for Serial Manipulator

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.