4. Use MATLAB to calculate the robot end-effector's position, i.e., the origin of the coordinate frame...

 

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4. Use MATLAB to calculate the robot end-effector's position, i.e., the origin of the coordinate frame 6 of the robot, for the following joint positions: 0 1 2 3 4 5 6 Case 0₁ = -2(1-0.11) 0₂=2(1-0.041) 0,=3(1-0.21) 0₁-0₁ 0₂-0₂ 06-03 = 1 0 (rad) 0 (rad) 0 (rad) 0 (rad) 0 (rad) 0 (rad) 2 (rad) (rad) (rad) /2 (rad) 0 (rad) /2 (rad) 0 (rad) 0 (rad) 0 (rad) 3 0 (rad) -π/2 (rad) 5. When six joints are moving simultaneously, write a MATLAB program to determine and plot the robot end-effector's position in a 3-dimensional plot (time t is 0 to 5 seconds at 0.2 second interval). The program should plot the movement of the end-effector in 3D (XYZ), and in XY, XZ, and YZ planes. The six joints are moving according to the following trajectories: r/2 (rad) 0 (rad) 0 (rad) 0 (rad) 4 π/2 (rad) 0 (rad) (rad) 0 (rad) 0 (rad) 0 (rad) 4. Use MATLAB to calculate the robot end-effector's position, i.e., the origin of the coordinate frame 6 of the robot, for the following joint positions: 0 1 2 3 4 5 6 Case 0₁ = -2(1-0.11) 0₂=2(1-0.041) 0,=3(1-0.21) 0₁-0₁ 0₂-0₂ 06-03 = 1 0 (rad) 0 (rad) 0 (rad) 0 (rad) 0 (rad) 0 (rad) 2 (rad) (rad) (rad) /2 (rad) 0 (rad) /2 (rad) 0 (rad) 0 (rad) 0 (rad) 3 0 (rad) -π/2 (rad) 5. When six joints are moving simultaneously, write a MATLAB program to determine and plot the robot end-effector's position in a 3-dimensional plot (time t is 0 to 5 seconds at 0.2 second interval). The program should plot the movement of the end-effector in 3D (XYZ), and in XY, XZ, and YZ planes. The six joints are moving according to the following trajectories: r/2 (rad) 0 (rad) 0 (rad) 0 (rad) 4 π/2 (rad) 0 (rad) (rad) 0 (rad) 0 (rad) 0 (rad)

Answer rating: 100% (QA)

To calculate the robot endeffectors position for the given joint positions using MATLAB we need to know the DenavitHartenberg DH parameters and the transformation matrices between consecutive frames o... View the full answer