Professional Writers
We assemble our team by selectively choosing highly skilled writers, each boasting specialized knowledge in specific subject areas and a robust background in academic writing
Order For Similar Custom Papers & Assignment Help Services
Fill the order form details - writing instructions guides, and get your paper done.
Posted:
Inverse Kinematics
Recall that the “reachable” workspace is defined as the set of locations that the endpoint can reach without regard to the orientation of the end-effector. ( this is often called the “fingertip” workspace). The “dextrous” workspace is the set of locations the the endpoint can reach and for which any arbitrary end-effector orientation can be achieved. However, note that this definition of the dextrous workspace is often qualified such that it only really considers the appropriate orientations, that is, the orientations in the ‘subspace” of possible motion. So, for example. with a planar robot, we would generally not consider the fact that out-of-plane rotations are not possible; so, for this case, we would say that there 15 a dextrous workspace if there is a set of endpoint locations that that exist such that any end-effector z-axis rotation is possible. Note that determining the workspace of a robot can be oddly difficult and non-intuitive, especially when arbitrary joint limits are considered.
X et-
Consider the 2-link planar manipulator shown abovle. a. For the robot geometry L1=50 cm, L2=25 cm, draw the ‘reachable’ workspaces for each of the following cases:
I Case I Thetal Range I Theta2 Range I1 I 0 degrees — 360 degrees I 0 degrees — 360 degrees 2 I -90 degrees –+90 degrees I -90 degrees — 90 degrees I 3 I 0 degrees — 180 degrees II 0 degrees — 150 degrees Act”a+
Go to Settings
indows to activate Windows. e
8. For the same arm as in #7:
a) Find the forward kinematics (e.g., the symbolic T matrix from the base to the end effector, given the numeric values for Ll and L2).
b) Find the inverse kinematic functions.
c) Compute the joint angle solutions for the values of X and Y in each of the cases listed below. Plot both solutions for case a. Do this using toolbox functions. You’ll need to understand the use of ikine! In particular, for this problem, you’ll need a mask vector. And – you’ll need to use appropriate solution guesses to generate both solutions.
Right-Handed Left-Handed Case X Y Theta 1 (deg) Theta 2 (deg) Theta 1 (deg) Theta 2 (deg) a 50 25 b 43.3 50 c 0 775 d -46.7 55.8
Activate Windows Go to Settings to activate Windows. e
Why choose us
You Want Quality and That’s What We Deliver
Discounted Prices
Our service is committed to delivering the finest writers at the most competitive rates, ensuring that affordability is balanced with uncompromising quality. Our pricing strategy is designed to be both fair and reasonable, standing out favorably against other writing services in the market.
AI & Plagiarism-Free
Rest assured, you'll never receive a product tainted by plagiarism or AI-generated content. Each paper is research-written by human writers, followed by a rigorous scanning process of the final draft before it's delivered to you, ensuring the content is entirely original and maintaining our unwavering commitment to providing plagiarism-free work.
How it works
When you decide to place an order with Nurscola, here is what happens: