[SOLVED] Solevd cmpsci 403: introduction to robotics: perception, mechanics, dynamics, and control hw 05

1. Make a Matlab function that computes a Jacobian matrix in global frame given joint positions.
2. Find the joint configuration that coincides with the following end-effector goal position and orientation
(i.e EE SE(3)) and submit a screenshot of the robot’s posture in the kinematic simulation you built in
homework 4.
0Tgoal =


0 −1 0 0.2
1 0 0 0.31
0 0 1 0.2
0 0 0 1

 ,
Tip:
Use the Jacobian you found in question 1 together with Newton-Raphson method to find the joint configuration.
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