~~NOTOC~~

===== Homework 02 - Denavit-Hartenberg Convention =====

=== Task ===

  - Describe the kinematics of {{http://cmp.felk.cvut.cz/cmp/courses/PRO/2012/Labs/Motoman-MA1400.pdf|Motoman MA1400}} manipulator using its {{http://cmp.felk.cvut.cz/cmp/courses/PRO/2012/Labs/Motoman-MA1400-dimensions.pdf|dimensions}} in Denavit-Hartenberg convention as explained in {{http://cmp.felk.cvut.cz/cmp/courses/PRO/2012/Lecture/PRO-2012-Lecture-03.pdf|03}}.
  - Implement a simulator of the manipulator in {{http://cmp.felk.cvut.cz/cmp/courses/PRO/2012/Labs/robot.tar.gz|MATLAB Robotic Toolbox}}. 

Use
  
  >>addpath('robot');

to add the robotic toolbox to Matlab path.
A manipulator with rotational links can be created by

  >>L{1} = link( [ alpha, a, 0, d, 0, theta_offset ],'standard');
  >>L{2} = ....
  >>.
  >>.
  >>r = robot( L, 'PRO', 'name', '' );

and visualized by

  >>drivebot(r);
  >>view([1;1;1]);

=== Upload ===

Upload via the [[https://cw.felk.cvut.cz/upload/|course ware]] the zip archive ''hw02.zip'' containing 
  - hw02.pdf report file describing your solution containing
    - an illustration of all axes of motion, all DH coordinate systems, numbered and described;
    - origins and orientations of angles;
    - a table with DH parameters;
    - a description of the choices of DH coordinate systems;
    - a description of your Matlab simulator.
  - hw02.m MATLAB simulator of the manipulator
  - all your additional MATLAB files required by hw02.m