Problem 2122. Simple Robotics 2 - End effector attitude

Created by Marcel

Solve Later

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In a stretched out posture, the end effector angle is 0. In other words calculate the end effector x,y and alfa.</w:t></w:r></w:p><w:p><w:pPr><w:pStyle w:val=\"text\"/></w:pPr><w:r><w:t>When the robot arm is aligned with the positive x-axis of the robot's base coordinate system, the end-effector angle is defined to be zero.</w:t></w:r></w:p><w:p><w:pPr><w:pStyle w:val=\"text\"/></w:pPr><w:r><w:t>You can easily modify this function to generate xdata and ydata for plotting the robot arm. Check the testcases for the requested accuracy.</w:t></w:r></w:p><w:p><w:pPr><w:pStyle w:val=\"text\"/></w:pPr><w:r><w:t>Tip: calculate the x,y position of the heart of the orange end-effector as a function of the angles alfa1...3 and link lengths L1...3. L1 is the length of the first link (connected to the base of the robot). good luck.</w:t></w:r></w:p><w:p><w:pPr><w:pStyle w:val=\"text\"/></w:pPr><w:r><w:t>Tip2: alfa1 in the picture is negative.</w:t></w:r></w:p><w:p><w:pPr><w:pStyle w:val=\"text\"/></w:pPr><w:r><w:t>Tip3: make a little drawing on a piece of paper to see how the end effector coordinate system relates to the angles of the hinges (joints)/jointspace.</w:t></w:r></w:p><w:p><w:pPr><w:pStyle w:val=\"text\"/></w:pPr><w:r><w:t>As a visual reference, check the picture below.</w:t></w:r></w:p><w:p><w:pPr><w:pStyle w:val=\"text\"/></w:pPr><w:customXml w:element=\"image\"><w:customXmlPr><w:attr w:name=\"height\" w:val=\"-1\"/><w:attr w:name=\"width\" w:val=\"-1\"/><w:attr w:name=\"relationshipId\" w:val=\"rId1\"/></w:customXmlPr></w:customXml></w:p></w:body></w:document>"},{"partUri":"/matlab/output.xml","contentType":"text/xml","content":"<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"no\" 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Given a structure as input to your function with the following fields:
* robot.links(L1,L2,L3)
* robot.jointangles(alfa1,alfa2,alfa3)
* robot.attitude(x,y,tht)
Return the same struct with the correct end effector position and orientation in "robot.attitude". In a stretched out posture, the end effector angle is 0.
In other words calculate the end effector x,y and alfa.When the robot arm is aligned with the positive x-axis of the robot's base coordinate system, the end-effector angle is defined to be zero.You can easily modify this function to generate xdata and ydata for plotting the robot arm. Check the testcases for the requested accuracy.Tip: calculate the x,y position of the heart of the orange end-effector as a function of the angles alfa1...3 and link lengths L1...3. L1 is the length of the first link (connected to the base of the robot). good luck.Tip2: alfa1 in the picture is negative.Tip3: make a little drawing on a piece of paper to see how the end effector coordinate system relates to the angles of the hinges (joints)/jointspace.As a visual reference, check the picture below.<img src = "http://3.bp.blogspot.com/-Quk1HnM9BF4/UtU4GvT5NhI/AAAAAAAAAC4/wSltlKZRlok/s1600/ontrack.jpg">

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Problem 2122. Simple Robotics 2 - End effector attitude

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Problem 2122. Simple Robotics 2 - End effector attitude

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