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CS 5310/6310 & ME 5220/6220 1.

(20 pts) Suppose


1x 2

Homework 1
3 1 and 1 y2 =
1 2

Due August 29, 2012

1 2

1 . 3

(a) (5 pts) Draw a diagram showing the orientation of axes 2 relative to axes 1. (b) (8 pts) What is the matrix 1 R2 ? (c) (7 pts) What is the rotation angle such that 1 R2 = R()? 2. (30 pts) Consider the coordinate system 2 in relation to coordinate system 1 in Figure 1. Suppose O2 is located at (-1,2) relative to coordinate system 1, and point P is located at (1,2) relative to coordinate system 2. Let pi = P Oi . What are the following vectors (i.e., their x and y components)? (a) (6 pts) 1 x2 and 1 y2 . (b) (8 pts) 2 p2 and 1 p2 . (c) (8 pts) 1 p1 and 2 p1 . (d) (8 pts) 1 d12 and 2 d12 .

x2

O2

y2

y1

O1

x1

Figure 1: Coordinate system 2 in relation to coordinate system 1, and a point P . . 3. (20 pts) Consider the combination of robot, table, block, and camera in Figure 2, with associated coordinate systems as shown. For this problem, ignore the distances. (a) (6 pts) Find 0 R1 , 1 R2 and 2 R3 by inspection. (b) (8 pts) Find 0 R3 by inspection, then verify the result by multiplying the three matrices above together. (c) (6 pts) Suppose 0 p = 1 . By inspection, nd 1 p, 2 p, and 3 p. 2

camera x3 y3 3.5m

y0 x1 robot x0 1.5m

table y1 2m x2

block 1m

y2

Figure 2: Robot, table, block, and camera. 4. (20 pts) The next two problems are for undergraduates only. Consider a 3-link planar manipulator with link lengths a = (a1 , a2 , a3 ) and joint angles = (1 , 2 , 3 ). (a) (5 pts) Set up origins and axes, similar to what was done for a planar two-link manipulator. Draw the robot with link lengths of 1 and joint angles of 300 . (b) (10 pts) Solve the forward kinematics symbolically for the endpoint position 0 d03 , given arbitrary link lengths a and joint angles . 5. (10 pts) Write a Matlab function to solve for the forward kinematics of the 3-link planar manipulator above. d03 = planar 3R(a,theta) where d03 is the vector from O0 to O3 , a is the 3-dimensional vector of link lengths, and theta is the 3-dimensional vector of joint angles. Create a diary le prog1.txt. Then show that your program works by applying your function to a = [1 1 1 ] and theta = pi/2 * [1 1 1]. The answer should be [-1 0]. Please make sure your diary le does not contain garbage. Use the style guide from the course web page in writing your functions. If logged into a CADE machine, hand in your les electronically by typing handin cs5310 prog1 planar 3R.m prog1.txt Alternatively, you can use the web-based handin as specied in the course web page. 6. (20 pts) This and the next problem are for graduate students only. Consider an n-link planar manipulator with link lengths a = (a1 , . . . , an ) and joint angles = (1 , . . . , n ). 2

(a) (5 pts) Set up origins and axes, similar to what was done for a planar two-link manipulator, for the rst link, an arbitrary intermediate link i, and the last link. (b) (10 pts) Solve for the forward kinematics symbolically to nd the point position 0 d0n . 7. (10 pts) Write a Matlab function to solve for the forward kinematics of the n-link planar manipulator above. d0n = planar nR(a,theta) where d0n is the vector from O0 to On , a is the n-dimensional vector of link lengths, and theta is the n-dimensional vector of joint angles. Create a diary le prog1.txt. Then show that your program works by applying your function to a = [1 1 1 1] and theta = pi/2 * [1 1 1 1]. The answer should be [0 0]. Please make sure your diary le does not contain garbage. Use the style guide from the course web page in writing your functions. If logged into a CADE machine, hand in your les electronically by typing handin cs5310 prog1 planar nR.m prog1.txt Alternatively, you can use the web-based handin as specied in the course web page.

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