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Introduction To Robotics Assignment 1

The document provides instructions for an assignment on robotics modeling and kinematics. Students are asked to: 1) Derive the geometric model of a robot manipulator using homogeneous transformations and Denavit-Hartenberg parameters. 2) Determine the transformation between the hand and base frames of a 3-link robot using D-H representation and homogeneous transformations. 3) For a 3-joint planar robot, a) determine the transformation matrices between joints using D-H parameters, b) given the end-effector transformation matrix, c) calculate the joint angles that achieve that pose.

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sanikhalidzira2020
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160 views

Introduction To Robotics Assignment 1

The document provides instructions for an assignment on robotics modeling and kinematics. Students are asked to: 1) Derive the geometric model of a robot manipulator using homogeneous transformations and Denavit-Hartenberg parameters. 2) Determine the transformation between the hand and base frames of a 3-link robot using D-H representation and homogeneous transformations. 3) For a 3-joint planar robot, a) determine the transformation matrices between joints using D-H parameters, b) given the end-effector transformation matrix, c) calculate the joint angles that achieve that pose.

Uploaded by

sanikhalidzira2020
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Introduction to Robotics Assignment 1

1. Derive a geometric robot model of the manipulator representing the pose of the
end-effector with respect to the base frame for the robot manipulator below, using
(a) Pose-displacement convention homogeneous transformation matrices
(b) The Denavit-Hartenberg convention

2. For the three‐link PRR manipulator shown below determine the 0HH (hand frame relative
to base frame) using
(a) D‐H representation.
(b) Pose-displacement convention homogeneous transformation matrices
3. A planar manipulator with three joints and three links is shown in the following figure. The last
joint can be used for determining the orientation of the gripper on the plane. The lengths of the
links are: a= b=0.5m, c=d =0.25m.

(a) Determine the transformation matrices Ai (i =1,2,3) based on the D-H procedure.
(b) The manipulator transformation matrix is given as
H = (0 0 1 0
0 -1 0 -0.7165
1 0 0 0.875
0 0 0 1)

(c) Determine the values of the joint angles θ1, θ2, and θ3 that result in the given position and the
orientation of the end-effector.

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