~~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}}. In order for the automatic evaluation to check your solution correctly, choose the 0-th and the 6-th coordinate frames as shown {{https://cw.fel.cvut.cz/b211/_media/courses/pro/labs/coord_frames_0_and_6.pdf|here}} (the $x$-axis is marked in red, the $z$-axis is marked in blue).
  - Visualize DH notation of the manipulator in {{https://github.com/kzorina/pro_hw2_simulator|simulation}}. 

=== Upload ===

Upload a zip archive ''hw02.zip'' (via the [[https://cw.felk.cvut.cz/upload/|course ware]]) containing:
  - ''hw02.json'' - json file containing DH parameters of the given manipulator (see below for the description of how to create it).
  - ''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;
    - visualization of DH parameters of the given manipulator.

**Creating** ''hw02.json'':

Create an empty dictionary in Python:

<code>
mechanism = {}
</code>

The dictionary has 24 keys: ''"theta1 offset"'', $\dots$, ''"theta6 offset"'', ''"d1"'', $\dots$, ''"d6"'', ''"a1"'', $\dots$, ''"a6"'', ''"alpha1"'', $\dots$, ''"alpha6"''. Fill in the values with DH parameters of the given manipulator. Values are numbers. Consider distances in **meters** and angles in **radians**.

Finally, save ''mechanism'' to ''hw02.json'':

<code>
import json
with open("hw02.json", "w") as outfile:
    json.dump(mechanism, outfile)
</code>