ENMEC 7080 and ENMEC 4016 Robotics Out of 20 marks Assignment 1 Due back on Sunday April 9th. A neatly typed group report should be submitted on the Moodle shell by the due date. One mark will be deducted for every day the assignment is late. The RPR robot above has a 50 mm end-effector. It is required to trace a vertical line located at position x=200 mm from position y = 80 mm to y = 180 mm with point p. The end effector should remain perpendicular to that line. Perform the following analysis using Matlab: Q1. Draw the trajectories of joint angles against y. 6 marks/20 Q2. Animate the robot linkage 4 marks/20 Q3. For the trace operation described above, if a 15 N force is applied at point p against the end-effector (collinear with it), draw trajectories of the motor torque (or force) if the motion is considered slow enough to neglect dynamic effects. 4 marks/20Q4. The attached Excel file shows data collected for robot calibration. Estimate the actual dimensions of the robot links given that the minimum value of s2 is intended to be 10 mm. 6 marks/20 NOTE: Neatly typed assignments are expected for this assignment. Include graphs, discussions, references etc. q1 s2 q3 x y 73.32513 135.8688 11.42881 44.27779 190.1999 82.20383 94.85389 8.778636 11.21402 154.5773 25.06484 82.03223 86.17562 64.25479 85.8511 86.83997 23.64196 87.35335 ‐48.8716 40.50026 86.14503 72.80635 72.02524 ‐41.9036 102.7171 12.76977 63.26419 82.4162 65.65468 65.97835 71.29866 143.9239 59.01666 15.82528 184.8834 3.214051 127.3694 84.05939 138.0998 57.47716 61.08616 113.661 66.88192 27.9608 148.5259 35.30043 98.32168 15.4068 117.7222 101.8947 63.54415 4.774927 24.92307 6.000077 63.82122 4.155425 14.56977 74.1112 33.04181 50.60797 62.53458 47.56492 85.51998 ‐16.6691 78.73513 3.100147 65.81165 34.34026 113.0182 34.82442 68.89651 119.28 16.81853 48.22333 171.1192 44.0788 66.83793 58.16817 43.23088 102.7685 63.84283 113.203 24.84226 53.54033 161.1859 61.17324 98.2647 14.63506 62.29598 143.9547 10.70979 74.75461 86.37696 75.88048 65.32929 30.63472 87.79016 20.14307 113.4539 89.1042 67.61404 38.26427 45.53613 ‐2.72146 91.34169 62.91691 133.6355 86.33623 21.64011 154.6762 49.2494 20.79367 13.43646 40.76766 68.37799 23.17574 126.1076 22.8854 157.4904 90.07016 73.28563 36.52875 83.63373 ‐33.4778 65.60705 31.49854 29.48929 22.59755 60.73873 61.6384 55.44402 70.99333 31.64936 46.63871 117.1855 74.77458 87.78961 49.47512 ‐3.79832 136.5833 82.54743 42.87585 68.14802 ‐37.8128 78.25203 67.83562 57.06688 51.10395 ‐0.22569 106.6661