Question

Q5. (5 Marks) Suppose we have a one-link robot of L-1 m, controlled at the hinge by a motor. There is a wall, parallel to the X-axis, at a distance of 0.65m from the joint as shown in the Figure 5. We would like to generate a trajectory for the hinge motor which will start at time t 0 with the door along the X-axis and at rest. It will end at time t = 2s with the door q(t- ao+ at + azt? + ast3, compute the coefficients a to achieve the desired trajectory. WALL 0.65m Fig.5-Q5

Answer 1

Here a trajectory ftr hinge moto Given da ta t2 ·07076 Radion 3 @ft)= a2 t2. + a3t 0, 7076 , a2 + 893 ( \

2303( ) 0.7076-4× (-3%)干893 07076 = -12a3+8a3 -4,a 3-6.7976 3D 0.5307 t2_ o.17sgt3 desired tajectory 9(t ) = nadia 1