Robot kinematics
Budget: $10 – $30 USD
Forward and inverse kinematics equations of robots whose robot kinematics are determined will be written. There is a time period of 3.5 hours. examples are given below
1. Table gives the names of a 6R jointed robot. The following items for the relevant robotapply.The process will be based on the last digit of the university student number.● (0)Automata Eva● (1)Kawasaki KF263EFE45-E● (2)Denso Cobotta● (3)Doosan M0617● (4)Epson N6_A1000● (5)Fanuc P-250iB_RH● (6)Hanwha HCR3● (7)Hans E10● (8)Jaka Zu 18 Cobot● (9)Yaskawa Motoman EPX2900• Place a coordinate frame at each joint.• Create its table using DH variables.• Calculate the transformation matrices for each joint(in Parametric and Numerical form).• Advanced kinematic transformation matrix 6Find 0 (assuming all variables are zero)multiply the transformation matrices).• Find the Jacobian matrix using two different methods (iterative and vector multiplication).• Find the inverse kinematics solution for the first 4 joints and choose two different CartesianpointFind the angle values for , .
1. Table gives the names of a 6R jointed robot. The following items for the relevant robotapply.The process will be based on the last digit of the university student number.● (0)Automata Eva● (1)Kawasaki KF263EFE45-E● (2)Denso Cobotta● (3)Doosan M0617● (4)Epson N6_A1000● (5)Fanuc P-250iB_RH● (6)Hanwha HCR3● (7)Hans E10● (8)Jaka Zu 18 Cobot● (9)Yaskawa Motoman EPX2900• Place a coordinate frame at each joint.• Create its table using DH variables.• Calculate the transformation matrices for each joint(in Parametric and Numerical form).• Advanced kinematic transformation matrix 6Find 0 (assuming all variables are zero)multiply the transformation matrices).• Find the Jacobian matrix using two different methods (iterative and vector multiplication).• Find the inverse kinematics solution for the first 4 joints and choose two different CartesianpointFind the angle values for , .
Related categories:
Robotics