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ENGIN5304 Advanced Robotics

Question

Answered

Task:

The following dimensions are given for the robot which is shown here at its home position:

h1 = 1200mm, h2 = 200mm, h3 = 450mm, h4 = 170mm.

The robot is required to push a workpiece whose location is given in the base frame at (0mm, 540mm, 1130mm) along a line whose direction cosines are (0.3, 0.50, -0.8124) against a force of 50N. The centre line of the end effector is meant to be aligned with the specified line as it will pushing the work piece from the back. Perform the following analysis

1. Perform inverse position analysis to obtain sets of joint displacements which will move the robot from the home position to the starting end-effector pose on the line 

Note that every set of solution will produce a different robot configuration for the same end-effector position and orientation

2. For each of the robot configurations obtained in 1, calculate the Jacobian at the starting pose on the line  

3. For each of the robot configurations obtained in 1, assess the effect of advancing the joint displacements by 0.1 deg. (or 0.1 mm) on the end-effector position and orientation (using the ZYX Euler notation) 

4. For each of the robot configurations obtained in 1, calculate the actuators effort at the staring pose on the line

5. Assume the base frame has been accurately situated and the axis of the first joint is perfectly vertical, use the calibration data given in the attached Excel file to estimate the actual dimensions of the robot.

Hint: Leave aside 10 data points for verification and use the rest for calibration.  

ENGIN5304 Advanced Robotics

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H7076 Electronic Circuit and Systems Design

Task: AiimsTo become familiar with the characteristics of a single transistor, to extract its performance parameters, and to compare the measured values with the values given in the data sheet. 1. To gain an understanding of transistors in simple single stage switching and amplifier circuits.2. T ...

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EG4217 Advanced Communications

Questions: Please answer each question below with relevant calculations and written comments, opinions and judgements, No Matiab programmes are required for this assignment. Please show all your working, rather than just the answer you arrive at, as marks may be awarded for partially correct answer ...

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CSC3313 Signals And Systems

Task 1. Consider the discrete-time system represented by the linear constant-coefficient difference equation below:    a. Draw a block-diagram representation of the system in terms of adders, delays, and coefficient multiplication branches.b. Draw a linear signal-flow graph representat ...

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Design and Working of Parking Sensor

Academic Year 202 1 / 202 2 Analogue Analysis and Design (ENG530/ © P21402) Item 2 – CW2/Laboratory Exercise Deadline for submission: Friday 17 /05/2022 at 16:00 Submission Instructions : Please submit your report as a W ord .doc or Adobe .pdf fi ...

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