Kinematics and Dynamics of a Three-D RRR

Kinematics and Dynamics of a
Three-D RRR-RRR Manipulator
Dionisio Del Vescovo
2014/2015 Course
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Three-D RRR-RRR Robot Manipulator
Articulated basic structure: three revolute principal joints (RRR), for
which each axis is perpendicular to the previous one.
Spherical wrist (RRR).
Figure: Robot sketch
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Part 1 - Kinematics of Position: analytical analysis
For the depicted joint axes Ai , according to Denavit & Hartenberg
locate the local reference frames and determine the parameters.
In closed analytical form, calculate the homogeneous transformation
matrices M0i , using the numerical values of the link twists αi .
Solve the direct and inverse kinematic problems.
Execute symbolic calculations, thinking of MATLABc programming.
(a) Null joint variable configuration
RRR-RRR Robot (2014/2015 Course)
(b) Joint axes
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Part 2 - Kinematics of Position: MATLABc programming
In MATLAB environment, implement the Kinematics of Position
performed in Part 1.
To this purpose the archive Posizion.zip is supplied: the files contained
in it may be completed and used to accomplish this assignment or just
regarded as templates, especially for input and out arguments.
Define a tool coordinate system, assuming a 2-jaw parallel gripper.
Check the Kinematic Analysis of Position, i.e. the equations first
formulated and then programmed, by means of the provided programs
MoveJoints.m and Ver_Pos_Inv.m; these programs are both
complete.
Comment the results obtained by proposing different case studies from
those provided.
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