Homework 12
16-311 Introduction to Robotics
Prof. Howie Choset
- (70%) Group: Lab 10: Final Contest
- (30%) Individual
Objectives:
- Supplement the lecture material of non-holonomic motion
- Boost the concepts of lie brackets and allowable motions of non-holonomic robots
- Show that the cart can achieve full (x, y, θ) degrees of freedom using
Lie Bracket analysis.
- State the constraint vector w1(q)
- State the allowable motion vectors g1(q) and g2(q)
- Compute the Lie Bracket of g1and g2
- Compute the inverse kinematics for the following system:
- A mobile robot with a two link manipulator on board.
- The location and orientation of the mobile base is (x,y,α).
- The two link manipulator is attached such that the axes of rotation
are perpendicular to the page in the Side View image.
- The first joint of the two-link manipulator is a height h from the floor.
Given a desired X, Y, Z, and Ω, determine the (x,y) position for the
mobile robot, as well as its orientation alpha and the angles τ1
and τ2.
Turn in:
Submit a PDF named [andrewID]HW12.pdf to Gradescope by 11:59 PM, April 25.
Last updated 04/21/2016 by Sarah Tan