[SOLVED] Cmpsci 403: introduction to robotics: perception, mechanics, dynamics, and control hw 04

1. Build the robot kinematic simulation and submit a screenshot of the robot in the following two configurations. You can use the given “drawLine3D.m” and “draw_Coordinat3D.m” functions to plot and
refer to “matlab_test3D.m” for instruction.
(a) q = (00
, 900
, 0
0
, 300
, 900
, 0
0
)
(b) q = (00
, 1200
, 0
0
, 600
, 900
, 0
0
)
2. Find the corresponding end-effector (i.e EE) SE(3) for the following two configurations.
(a) q = (00
, 900
, 900
, 300
, 900
, 0
0
)
(b) q = (00
, 600
, 450
, 600
, 900
, 0
0
)
Tip:
Use the functions you implemented for homework 3 to construct SE(3) matrices.
Figure 1: Six DOF arm in its home configuration (i.e θ1 = θ2 = θ3 = θ4 = θ5 = θ6 = 0). Notice the local
frame of the end-effector {EE} is aligned with the global frame {0}. Each of the cylinders represent the
joints of the robot and the arrows going through the cylinders represent the axes of rotation. Therefore, θ1
is the rotation around z axis, θ2,3,5 are the rotation around y axis, and θ4,6 are the rotation around x axis.
1