December 16, 2024

Homework Assignment 1


Consider a robotic manipulator with two degrees of freedom shown in the figure.

The manipulator can rotate around axis 1 for the angle of \theta_{1} and around the axis 2 for the angle of \theta_{2}. Assume that \theta_{1}, \theta_{2}, distances l_{1},l_{2},d_{1} and d_{2} are given.

Your task is to

  1. Assign coordinate systems to every joint.
  2. Construct rotation matrices and homogeneous transform.
  3. Represent the coordinates of the end-effector point C in the base coordinate system x_{0}y_{0}z_{0} by using rotation matrices and homogeneous transforms.

Important notes:

  1. The submission deadline is Friday, January 28, at 12:00PM, during the class. Only printed copies will be accepted. Please do not email the homework assignments.
  2. You are expected to write equations, text, and graphs in appropriate software. Hand-written homework assignments will not be accepted. Latex software is a good option for writting the homework assignment, see for example the online tutorial given below.
  3. Plagiarism will not be tolerated.