Upload a zip archive hw02.zip
(via the 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
Creating hw02.json
:
Create an empty dictionary in Python:
mechanism = {}
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
:
import json with open("hw02.json", "w") as outfile: json.dump(mechanism, outfile)