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Harvard
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Engineering
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Essay
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English (U.S.)
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Topic:

Engineering Research About The Kinematic Analysis Of Robots (Essay Sample)

Instructions:

The paper is about the kinematic analysis of robots

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Content:


INTERNSHIP PROPOSAL
by (Name)
The Name of the Class (Course)
Professor (Tutor)
The Name of the School (University)
The City and State where it is located
The Date
Exercise 1
*
First, we create a dh table that lists all the parameters. In the table, we list the parameters below.
θ,α,a and d.
θ is the angle through which the xn-1 axis rotates through to be mapped onto xn (Corke, 2015).
α is the angle that you rotate zn-1 axis to map it onto zn axis (Corke, 2015).
a is the distance between the centers of the coordinates of two joints in the direction of the xn axis (Corke, 2015)
d is the distance between the centers of the coordinates of two joints in the direction of the zn-1 axis (Corke, 2015).
After analyzing the robot, we obtain the parameters and table them in a dh table.
Joint

θ

α,

a

d

1

0

90

1

0

2

0

0

1

0

3

0

0

1

0

* We use the Peter corke robotic toolbox to depict the robot on the MATLAB platform.
We create a variable L and include the dh parameters in it in the order: theta, d, a and alpha
L (1) =Link ([0 0 0 1.571]);
L (2) =Link ([0 0 1 0]);
L (3) =Link ([0 0 1 0]);
We employ the Serial Link toolbox function to generate a robot object and to store it into the workspace variable rob (Corke, 2015).
Rob=SerialLink(L);
According to (Corke, 2015), use the function Rob.name to name our robot.
Rob.name='question 1';
We apply the function Rob. Plot to produce a plot of the robot after
specifying the values of q in radians (Corke, 2015).
Rob.plot([0,0,0,]);
The robotic toolbox then produces the plot of the robot.
* The homogenous transformation matrix.
Typing rob in the workspace produces a dh table which lists all the essential parameters of the mechanism.
Rob =
We finally apply the function rob. fkine to carry out the forward kinematic evaluation of the robot and to yield a homogenous transformation matrix. From the homogenous matrix we can establish the rotation matrix of the end effector and its position (Corke, 2015).
Rob.fkine([0 0 0])
ans =
1 0 0 2
0 -0.0002 -1.0000 0
0 1.0000 -0.0002 0
0 0 0 1
Exercise 2
After examining the robot, we find the parameters and table them in a dh table.
Joint

θ

α,

a

d

1

0

-90

0

2

2

0

90

0

3

3

0

0

0

4

4

-90

90

0

2

5

90

90

0

2

6

-90

0

0

3

In the instance of prismatic joints, we take the sum of

...
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