Implement the forward kinematic task for a general 6R manipulator.
Create a function fkt(mechanism, joints)
which takes DH parameters of the manipulator mechanism
and 6 joint angles (in radians) of the manipulator joints
and returns the pose of the end effector.
Input/Output specifications for fkt
:
mechanism
: dictionary with 4 keys “theta offset”
, “d”
, “a”
, “alpha”
.
joints
: list of 6 float numbers that define the configuration of the mechanism.
“r”
and “t”
, whose values are the rotation (3×3 matrix of type np.ndarray
) and the translation (3×1 matrix of type np.ndarray
) of the end effector in the base coordinate system, respectively.
Implement the solution in a single file hw03.py
. The file must contain the fkt
function, such that it can be imported (by the automatic evaluation) as
import hw03 pose = hw03.fkt(mechanism, joints)
Use the created fkt
function to explore the range of motion of the end-effector when moving only the first joint of the Motoman MA1400 manipulator (that was used in the previous homework).
For this follow the next steps:
fkt
and record the end-effector position
Upload a zip archive hw03.zip
(via the course ware) containing the following files:
hw03.py
- python script containing the implemented function fkt
hw03.pdf
- report file describing your solution containing:
fkt