Homework 12
16-311 Introduction to Robotics
Prof. Howie Choset

Due at beginning of class on Wednesday, Apr 25th


This homework is worth 200 points.


  • (160pts) Group:
  • (40pts) Individual:
    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:


    Last updated 4/18/07 by Nick Armstrong