Description
HW04
All questions refer to the robot arm sketched in the figure below. Answer the questions below with text, mathematical statements, and supporting sketches where appropriate. Include a commented copy of your Matlab code.
1. Build the robot kinematic simulation and submit a screenshot of the robot in the following two configurations. You can use the given “drawLine3D.m” and “draw_Coordinat3D.m” functions to plot and refer to “matlab_test3D.m” for instruction.
(a) q = (00,900,00,300,900,00)
(b) q = (00,1200,00,600,900,00)
2. Find the corresponding end-effector (i.e EE) SE(3) for the following two configurations.
(a) q = (00,900,900,300,900,00)
(b) q = (00,600,450,600,900,00)
Tip:
Use the functions you implemented for homework 3 to construct SE(3) matrices.
Figure 1: Six DOF arm in its home configuration (i.e θ1 = θ2 = θ3 = θ4 = θ5 = θ6 = 0). Notice the local frame of the end-effector {EE} is aligned with the global frame {0}. Each of the cylinders represent the joints of the robot and the arrows going through the cylinders represent the axes of rotation. Therefore, θ1 is the rotation around z axis, θ2,3,5 are the rotation around y axis, and θ4,6 are the rotation around x axis.
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