CS 5310/6310 & ME 5220/6220

Homework 5

Due October 15, 2012

1. (20 pts) Draw the manipulator with the following DH parameters in its zero-angle position. A * denotes which is the joint variable. In so doing, show the origin Oi and axes xi , zi for each frame i. For the prismatic joint, show the robot with d3 > 0 for clarity. i i i a i di 0 a 0 d0 0 0 1 0 d1 2 2 a2 0 2 0 0 3 0 2. (30 pts) Draw the rotary manipulator with the following DH parameters in its zero-angle position. In so doing, show the origin Oi and axes xi , zi for each frame i. i 1 2 3 4 5 a i di i 0 0 2 a 2 d2 2 a 3 d3 2 a 4 d4 0 0 0 2

3. (20 pts) In this problem, you will write Matlab functions to solve for the forward kinematics of an arbitrary manipulator. (a) (10 pts) Write a function T = linktrans(a,d,alpha,theta) that returns the homogeneous transformation corresponding to the DH parameters a,d,alpha,theta for a particular link, which are scalars. (b) (10 pts) Write a function T = fkine(a,d,alpha,theta) that computes the forward kinematics T (expressed as a homogeneous transformation) given the vectors of DH parameters a,d,alpha,theta (in the previous problem, they were scalars). Apply fkine to the manipulator of problem 2, where non-zero length parameters are set to 1 and the angles are /2, /4, /3, , /6. Create a diary le prog5.txt that shows your program working on this example. Hand in your functions electronically by typing on a CADE system: handin cs5310 prog5 linktrans.m fkine.m prog5.txt

4. (30 pts) Consider the manipulator in Figure 1. Assume that neighboring axes are either parallel or perpendicular, and that if perpendicular they intersect. Assume the gripper lies along the last rotation axis as shown. The drawing is not necessarily in the zero-angle position.

Figure 1: 6-DOF arm with one prismatic DOF. (a) (20 pts) Propose a set of DH parameters. Place the base coordinates at the bottom base, and the end-link coordinates in the middle of the gripper. (b) (10 pts) Draw a diagram showing the manipulator in the zero-angle position. Label all zi and xi axes, and non-zero length parameters. 5. (20 pts) This problem is for graduate students. For the SCARA robot of Chapter 4, set up the Craig DH parameters.