CS 5310/6310 & ME 5220/6220

Homework 7

Due October 31, 2012

1. (20pts) For a 3-link planar manipulator with arbitrary lengths a1 , a2 , and a3 , describe (a) the reachable workspace, dened as the set of all attainable endpoint positions (x, y), and (b) the primary workspace, the set of all attainable endpoint positions and orientations in the plane. 2. (25pts) This question concerns forming a polynomial trajectory for joint i where position, velocity, and acceleration constraints at the end points are specied. Suppose the time range is 0 t 1, and the end conditions are q(0) = 0, q(1) = 1, q(0) = 0, q(1) = 0, and q (0) = 0. (a) (5 pts) Write the minimum order polynomial in time t that can satisfy these end constraints. (b) (20 pts) Solve for the coefcients of your polynomial. 3. (30pts) This question concerns how to splice together two polynomial trajectories in the joint variable q. Call the rst polynomial q1 (t), the second q2 (t). Polynomial q1 (t) is valid in the time range 0 t t1 , and has an initial position q0 and an initial velocity of zero. Polynomial q2 (t) is valid in the time range t1 t t2 , and has a nal position of q2 and a nal velocity of zero. At time t = t1 , the two polynomials have the same position and the same velocity. The acceleration of polynomial 2 at time t1 is zero. (a) (10pts) Write the constraint relations. (b) (10pts) Write the general form of the two polynomials q1 (t) and q2 (t) that are the minimal degree. Also write their rst and second derivatives. (c) (10pts) Solve for the coefcients of polynomial 1. 4. (25pts) Write a Matlab function theta = ikine(a,d,T,LR,UD,NF) that solves the inverse kinematics of the PUMA-like robot of the previous problem set: i 1 2 3 4 5 6 ai 0 a2 a3 0 0 0 di i d1 /2 0 0 d3 /2 d4 /2 0 /2 d6 0

Vectors a and d contain the ordered DH parameters, including any zero values; assume the values of in the table. T is the homogeneous transformation from frame 6 to 0. LR chooses lefty (LR=1) or righty (LR=0). UD chooses elbow up (UD=1) or elbow down (UD=0). NF No ip (NF=0) means the joint 5 angle is in quadrants 1 or 2, while ip (NF=1) species quadrants 3 or 4.

Make sure to handle exceptional cases, such as a desired position that is outside of the workspace. Use the style guide from the course web page in writing your function. Provide evidence that your program works, by choosing some particular values of the DH parameters. Verify the result by running your fkine Matlab program. Save the results of a Matlab session in a diary le prog7.txt. Hand in your function electronically by typing on a CADE system: handin cs5310 prog7 linktrans.m fkine.m ikine.m prog7.txt