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