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- Describe the kinematics of Motoman MA1400 manipulator using its dimensions in Denavit-Hartenberg convention as explained in 03.
- Implement a simulator of the manipulator in 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 via the 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

courses/pro/labs/hw02.txt · Last modified: 2018/09/03 17:27 (external edit)