• Robot Arm Kinematics

• Bonus: Write a planner to plan between workspace positions which takes the closest approach in joint space into account.

1. Draw the intermediate motions for a wedge that undergoes Trans (Y, Δy₁) Rot (Z, θ₁) Trans (Y, Δy₂) Rot (X, θ₂)

2. A can starts out with the center of its base on the origin. It has a radius of 1 cm, and a height of 3 cm. The homogenous transformation matrix H is applied to the can.

   a) Draw the resulting location and orientation of the can.

   b) Express H has a combination of translations and rotations along the X, Y and Z axes.

   
   (3&4) Consider the following robot

   

3. What are the Denavit-Hartenberg parameters and variables for the robot?

4. Derive the forward kinematics for the robot, i.e., write an expression for x,y, &Theta in terms of the joint parameters and variables.

Turn in:

Submit hardcopy for individual assignment at the beginning of class.