Why Choose Us?
0% AI Guarantee
Human-written only.
24/7 Support
Anytime, anywhere.
Plagiarism Free
100% Original.
Expert Tutors
Masters & PhDs.
100% Confidential
Your privacy matters.
On-Time Delivery
Never miss a deadline.
MNE482/MNE591-02 (Fall 2021) HW Assignment 5 (Total: 100 points + 30 extra credits) 1) Solve the inverse kinematics problems for each robotic arm with three degrees of freedom shown below using the desired position of the end-effector, [xd, yd, zd]T and the given ?30, the transformation matrix
MNE482/MNE591-02 (Fall 2021)
HW Assignment 5 (Total: 100 points + 30 extra credits)
1) Solve the inverse kinematics problems for each robotic arm with three degrees of freedom shown below using the desired position of the end-effector, [xd, yd, zd]T and the given ?30, the transformation matrix. (i.e. specify the joint variables (superscript as ‘var’) in terms of known parameters, xd, yd, zd., L, and H). L and H are assumed as known parameters by measurements and do not introduce any other parameters in your “final” answer except given parameters. (You might want to introduce interim parameters for the ease of analysis, but your final answer should be written with the given parameters
only). (40 pts)
0 0 1 ????3 ???+ ?
?30 = 01 −01 00 −?????12
[ 0 0 0 1 ]
- Cylindric Robot (15 points)
3
|
?????1
?0 = ?????1 |
0 0 |
?????1 −?????1 |
?????1 (????3 + ?)
−?????1 (????3 + ?)
0 1 0
[ 0 0 0
- Polar Robot (15 points)
|
−?????1 ?????2 = −?????1 ?????2 ?30 ?????2 |
?????1 −?????1 0 |
?????1 ?????2 ?????1 ?????2 ?????2 |
[ 0 0 0
????2
1 ]
?????1 ?????2 (????3 + ?)
?????1 ?????2 (????3 + ?)
? + ?????2 (????3 + ?)
1 ]
MNE482/MNE591-02 (Fall 2021)
- (a) Solve the inverse kinematics problem for the LabVolt 5150 robot arm using both analytical and geometric approaches. (i.e. two-step approach by dividing the robot arm into two parts, {Base to Wrist} and {Wrist to End-effector}.) (40 pts)
|
|
|
LabVolt 5150 |
|
|
|
Joint # (i) |
ai [mm] |
αi [° or radian] |
di [mm] |
θi [° or radian] |
|
1 ( {0} -> {1} ) |
0 |
90° or π/2 |
255.5 |
θ1var |
|
2 ( {1} -> {2} ) |
190 |
0 |
0 |
θ2var |
|
3 ( {2} -> {3} ) |
190 |
0 |
0 |
θ3var |
|
4 ( {3} -> {4} ) |
0 |
90° or π/2 |
0 |
θ4var |
|
5 ( {4} -> {5} ) |
0 |
0 |
115 |
θ5var |
(b) Determine possible joint variable sets, θivar (i=1,2,3,4, and 5) as numbers satisfying the desired transformation matrix given below.). You may use Matlab or other programing tools with providing your
own source code. (20 pts)
0.7866 −0.0795 0.6124 377.4677
(?05)??????? = [−00.5000.3624 −−00..50008624 −00.3536.7071 217269..93111827]
0 0 0 1
- (Optional for Extra Credit) Confirm the table below using the ‘ikine’ function in the Matlab robotics toolbox and the LabVolt model built by ‘SerialLink’ from Assignment 4). (Hint: Since LabVolt5150 is a 5DoF manipulator, you need to use ‘mask’ when you use the ‘ikine’ function. Read how to use ‘mask’ by typing ‘help SerialLink/ikine’ on the Matlab command window.) (30 points)
|
From Measurements (or Simulation Program) |
|
Matlab Result |
||||||
|
Sets |
θ1 |
θ2 |
θ3 |
θ4 |
θ5 |
X |
Y |
Z |
|
IC |
0° |
0 |
0° |
0° |
0° |
380.00 |
0 |
140.55 |
|
Xmax |
0° |
0 |
0° |
90° |
0° |
495.00 |
0 |
255.50 |
|
Ymax |
90° |
0 |
0° |
90° |
0° |
0 |
495.00 |
255.50 |
|
Zmax |
0° |
90 |
0° |
90° |
0° |
0 |
0 |
750.50 |
|
1 |
30° |
45° |
-90° |
45° |
90° |
232.70 |
134.35 |
140.50 |
|
2 |
-27° |
15° |
24° |
28° |
-6° |
389.41 |
-198.41 |
379.31 |
|
3 |
15° |
-15° |
42° |
61° |
42° |
451.81 |
121.06 |
288.57 |
Expert Solution
Please download the answer file using this link
https://drive.google.com/file/d/1ifGUKyspgO2rP4eIit8Bt8CDIs7aFp10/view?usp=sharing
Archived Solution
You have full access to this solution. To save a copy with all formatting and attachments, use the button below.
For ready-to-submit work, please order a fresh solution below.
