Suppose to have the three joints robot shown in the picture. Find the coordinates X and...
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Suppose to have the three joints robot shown in the picture. Find the coordinates X and Y of the robot hand (TCP: Tool Centre Point) for given values of the joints q1, q2, q3. This problem is known in robotics as 'Forward kinematics'. 0 91 92 93 TCP X See for example robot-control-forward-transformation-matrices/ or Forward kinematics Requirements for passing the subject, try to answer the following questions (when applicable). • Give an explanation of linear and affine transformations and how they relate to the problem. • Explain how a translation in 2 dimensions (an affine transformation) can be rep- resented using a linear transformation (a matrix) in 3 dimensions and why this is relevant to the problem. • Use the matrix formulation of the problem to describe the coordinate of TCP if there is at least 2 joints with an example. The following additions contribute to a higher grade: • Show how matrices can be used to describe complex movements in 3D such as the position of multiple fingerstips on a simple hand or the position of the moon relative the sun in a simplified model. . Try to make a short animation where you illustrate the use of the method. Suppose to have the three joints robot shown in the picture. Find the coordinates X and Y of the robot hand (TCP: Tool Centre Point) for given values of the joints q1, q2, q3. This problem is known in robotics as 'Forward kinematics'. 0 91 92 93 TCP X See for example robot-control-forward-transformation-matrices/ or Forward kinematics Requirements for passing the subject, try to answer the following questions (when applicable). • Give an explanation of linear and affine transformations and how they relate to the problem. • Explain how a translation in 2 dimensions (an affine transformation) can be rep- resented using a linear transformation (a matrix) in 3 dimensions and why this is relevant to the problem. • Use the matrix formulation of the problem to describe the coordinate of TCP if there is at least 2 joints with an example. The following additions contribute to a higher grade: • Show how matrices can be used to describe complex movements in 3D such as the position of multiple fingerstips on a simple hand or the position of the moon relative the sun in a simplified model. . Try to make a short animation where you illustrate the use of the method.
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Based on the image you provided youre working on a robotics problem concerning the forward kinematics of a threejoint robot I will address the questions listed 1 Give an explanation of linear and affi... View the full answer
Related Book For
Probability & Statistics For Engineers & Scientists
ISBN: 9780130415295
7th Edition
Authors: Ronald E. Walpole, Raymond H. Myers, Sharon L. Myers, Keying
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