Homework 12
16-311 Introduction to Robotics
Fall-05. Prof. Howie Choset
Due in class Wed Nov 30th
- Group Portion (60%)
- Individual Portion (40%)
- Determine the forward kinematic map for the Puma arm as follows:
i | ![](alphai.gif) | ai-1 | di | ![](thetai.gif) |
  | 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 | ![](alphai.gif) | ai-1 | di | ![](thetai.gif) |
  | 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