16-311 Introduction to Robotics

Homework 12
16-311 Introduction to Robotics
Fall-05. Prof. Howie Choset

Due in class Wed Nov 30th

Group Portion (60%)
- Please do Lab 9
Individual Portion (40%)
- Determine the forward kinematic map for the Puma arm as follows:
  
  i a_i-1 d_i
  
  degrees meters meters degrees
  
  1 0 0 0 10
  
  2 -90 0 .2435 20
  
  3 0 .4315 -.0934 30
  
  4 -90 .0203 .4331 40
  
  5 90 0 0 50
  
  6 -90 0 0 60
- Determine the forward kinematic map for the arm as follows:
  
  i a_i-1 d_i
  
  degrees meters meters degrees
  
  1 0 0 0 10
  
  2 -90 0 .2435 20
  
  3 0 .4315 -.0934 30
  
  4 -90 .0203 .4331 40
- What are the coordinates of the end-effectors for the robots described above? What are the differences and similarities between the robots
- Derive the inverse kinematics for a revolute-revolute-prismatic joint planar robot from the previous HW