Question

Can some help with coding??

Problem 1 Given the 3R manipulator with coordinate frames shown, you must simulate the robot picking an object from the ground and sliding it into a slot. Do not freak out, just read and follow the instructions very carefully. All necessary boundary conditions are provided below. If you follow these, the robot will automatically go to the poses (x.y. y) for initial po (0.3.0,-), midpoint Pm (0.3,0.25.0), and final point pm (0.4, 0.25,0). An example video is posted on D2L as "3R Robot Trajectory Control" Ke La The boundary conditions are link lengths: 0.3 m, L2 -0.2 m, L0.1m, joint angles 0.974 1.549 1.254 q,-|-1.815 rad, qm-1-1.8041 rad, qf = -1.430| rad. 0.176 L2 -0.739 0.246 joint speeds vo 1 (same for all joints) joint accelerations a0a(same for all joints) -, (Same for all joints times to 0s.tm2s,t 3s (a) Derive the quintic polynomial joint trajectories for joints 1, 2, and 3. Write answers below. Simulate this in Matlab (b) Derive the linear interpolation equations for joints 1, 2, and 3. Write answers below. Simulate this in Matlab. (c) Derive the quaternion interpolation equations for joints 1, 2,and 3. Write answers below Simulate this in Matlab.

Answer 1

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