• Inverse Kinematics Lab

1. Determine the forward kinematic map for the Puma arm as follows:

   i	&alphai-1	ai-1	di	&Thetai
   	degrees	meters	meters	degrees
   1	0	0	0	10
   2	-90	0	0.2435	20
   3	0	0.4315	-0.0934	30
   4	-90	0.0203	0.4331	40
   5	90	0	0	50
   6	-90	0	0	60

2. Determine the forward kinematic map for the arm as follows:

   i	&alphai-1	ai-1	di	&Thetai
   	degrees	meters	meters	degrees
   1	0	0	0	10
   2	-90	0	0.2435	20
   3	0	0.4315	-0.0934	30
   4	-90	0.0203	0.4331	40

3. What are the coordinates of the end-effectors for the robots described above?

4. What are the differences and similarities between the robots?

5. Derive the inverse kinematics for the following revolute-revolute-prismatic joint planar robot. Assume s can range from zero to infinity; the revolute joints can range from zero to 2 pi; and the first link is longer than the second link.

6. Sketch the workspace of the arm.
   
   Robotic arm for questions 5 and 6.

Turn in:

Submit hardcopy for individual assignment at the beginning of class.