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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.
fkt(mechanism, joints)
mechanism
joints
Input/Output specifications for fkt:
fkt
“theta offset”
“d”
“a”
“alpha”
“r”
“t”
np.ndarray
Implement the solution in a single file hw04.py. The file must contain the fkt function, such that it can be imported (by the automatic evaluation) as
hw04.py
import hw04 pose = hw04.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:
Upload a zip archive hw04.zip (via the course ware) containing the following files:
hw04.zip
hw04.pdf