SCHOOL of ENGINEERING Page i of v STUDENT NAME: TUTOR NAME: Andrea Paoli PROGRAMME: BEng Electrical Engineering M ELE1002M ODULE CODE: MODULE TITLE: INTRODUCTION TO ROBOTICS SUBJECT: FORWARD AND INVERSE KINEMATICS COURSEWORK TITLE: ASSIGNMENT 2 OF 2 COURSEWORK WEIGHTING (%): 30% Issue Date: 12/04/2016 Due Date: 10/04/2017 Feedback Date: 28/04/2017 PERFORMANCE CRITERIA: TARGETED LEARNING OUTCOMES 1. Compute and use forward kinematics to evaluate the end-effector pose of a robot 2. Compute and use inverse kinematics to derive the joint configuration of a robot in a desired position 3. Compute and use the Jacobian matrix to solve a velocity problem 4. Use Matlab to solve problems related to kinematics Important Information – Please Read Before Completing Your Work All students should submit their work by the date specified using the procedures specified in the Student Handbook. An assessment that has been handed in after this deadline will be marked initially as if it had been handed in on time, but the Board of Examiners will normally apply a lateness penalty. Your attention is drawn to the Section on Academic Misconduct in the Student's Handbook. All work will be considered as individual unless collaboration is specifically requested, in which case this should be explicitly acknowledged by the student within their submitted material. Any queries that you may have on the requirements of this assessment should be e-mailed to [email protected]. No queries will be answered after respective submission dates. You must ensure you retain a copy of your completed work prior to submission.SCHOOL of ENGINEERING Page ii of v COURSEWORK BRIEF: Write your assignment using Word, Pages or Open Office. Justify your replies explaining the methodology you applied. Any time you refer to Matlab code, append and comment it. Whenever your Matlab output is a graphical picture, save it as a png file and insert it in your file. Submit the hard copy to the School Office. Exercise 1 Given the RRR serial robot depicted in Fig. 1: 1. Write the Denavit-Hartenberg parameters for the robot (support your answer by showing all the technical steps you used). 2. Write the forward kinematics of the robot. 3. Use Matlab Robotics Toolbox to depict the robot (suppose all the joints length are equal to 0.5 m) in a candle configuration. 4. Use Matlab Robotics Toolbox to compute joint positions corresponding to an end-effector translation equal to (1,1,1). Figure 1SCHOOL of ENGINEERING Page iii of v Exercise 2 Given the PRR serial robot depicted in Fig. 2: 1. Write the Denavit-Hartenberg parameters for the robot (support your answer by showing all the technical steps you used). 2. Write the forward kinematics of the robot. Figure 2 Exercise 3 Given the Stanford serial robot depicted in Fig. 3: 1. Write the Denavit-Hartenberg parameters for the robot (support your answer by showing all the technical steps you used). N.B. all lengths are expressed in mm. 2. Write the forward kinematics of the robot for the following joint position vector (0deg; 90deg; 0deg; 0deg; 45deg; 0deg). 3. Use Matlab Robotics Toolbox to depict the robot (suppose all the joints length are equal to 1000 mm) in the configuration described in question 2. Figure 3SCHOOL of ENGINEERING Page iv of v Exercise 5 Given the planar robot in Fig. 4 where l1=l2=500mm and considering the joints configuration (0 deg; 45deg), derive the joints instantaneous velocity that correspond to an end-effector velocity (10 mm/sec ; 50 mm/sec). Support your answer by showing all the technical steps you used. Figure 4SCHOOL of ENGINEERING Page v of v MARKING CRITERIA: COURSEWORK WILL BE MARKED ACCORDING TO THE FOLLOWING UNIVERSITY CRITERIA. 90-100%: a range of marks consistent with a first where the work is exceptional in all areas; 80-89%: a range of marks consistent with a first where the work is exceptional in most areas. 70-79%: a range of marks consistent with a first. Work which shows excellent content, organisation and presentation, reasoning and originality; evidence of independent reading and thinking and a clear and authoritative grasp of theoretical positions; ability to sustain an argument, to think analytically and/or critically and to synthesise material effectively. 60-69%: a range of marks consistent with an upper second. Well-organised and lucid coverage of the main points in an answer; intelligent interpretation and confident use of evidence, examples and references; clear evidence of critical judgement in selecting, ordering and analysing content; demonstrates some ability to synthesise material and to construct responses, which reveal insight and may offer some originality. 50-59%: a range of marks consistent with lower second; shows a grasp of the main issues and uses relevant materials in a generally business-like approach, restricted evidence of additional reading; possible unevenness in structure of answers and failure to understand the more subtle points: some critical analysis and a modest degree of insight should be present. 40-49%: a range of marks which is consistent with third class; demonstrates limited understanding with no enrichment of the basic course material presented in classes; superficial lines of argument and muddled presentation; little or no attempt to relate issues to a broader framework; lower end of the range equates to a minimum or threshold pass. 35-39%: achieves many of the learning outcomes required for a mark of 40% but falls short in one or more areas. 30-34%: a fail; may achieve some learning outcomes but falls short in most areas; shows considerable lack of understanding of basic course material and little evidence of research. 0-29%: a fail; basic factual errors of considerable magnitude showing little understanding of basic course material; falls substantially short of the learning outcomes for compensation. MARKING SCHEME: ALL EXERCISES HAVE AN EQUAL MARKING WEIGHT. BEGIN YOUR WORK ON THE FOLLOWING PAGE IF YOU ARE WORD PROCESSING YOUR COURSEWORK (DELETE PAGE IF HAND-WRITING)SCHOOL of ENGINEERING Page 1 of 1