Homework 4
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Homework 4
• Question 1:(3 pts) How many solutions are there for the three-link planar arm shown below if the orientation of the end effector is not specified? What if it were specified? Use the geometric method to justify your answers.
Figure 1: 3-link Planar arm for Q2
• Question 2:(3 pts) Solve the inverse position kinematics for the Cartesian manipulator below given Y0 and Z0
Figure 2: Cartesian manipulator for Q3
• Question 3 (4 pts total):
(1)Find the forward kinematics given the 3R planar manipulator below. I.e. x,y,ϕ as a function of θ 1 θ2 ,θ3 ..(1pt)
(2)Then using Matlab, symbolically find the inverse kinematics. Use the simplify() function in Matlab to simplify your answer.(1.5pt)
(3) Using the Matalb code above and given link length l1 = 1; l2 = 1; l3 = 1; with target position x = 1; y = 1; phi = 0; find the joint variables.(1.5pt)
Figure 3: 3R Joint planar Robotic Manipulator
2022-10-18