OSU ECE 5463 - Manipulator-Kinematics-2 (8 pages)

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Manipulator-Kinematics-2



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Manipulator-Kinematics-2

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Pages:
8
School:
Ohio State University
Course:
Ece 5463 - Introduction to Real Time Robotics Systems

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Manipulator Kinematics 2 Read Chapter 3 Practice of the Hexapod Model 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 2 5 1 0 0 0 0 1 12 8 12 8 0 0 1 0 2 5 2 5 12 8 1 0 0 0 0 0 12 8 0 0 1 0 0 1 VI Specify Body and Foot Transformation Usually the robot has additional frames fixed to the base link 0 and the terminal link In a manipulator S frame attached to the station indicates where the manipulator is within the workstation T frame attached to the tool gripper For the OSU hexapod Station the body Tool foot Specify Body and Foot Transformationcontinued 1 0 0 0 10 98 10 98 0 0 0 0 1 0 0 1 0 0 0 0 1 0 1 10 98 10 98 0 0 17 10 98 17 10 98 1 44 1 VII Forward Kinematics for Manipulator Compute the position orientation of the tool relative to the station frame Tool Arm Manipulator location Forward kinematics Given i 1 n find OSU Hexapod Leg 2 1 2 l4 12 9 16 l1 X1 X0 0 1 Z2 X2 2 2 7 16 X3 Z3 Z0 Z1 3 YF 17 l2 XF ZF 1 7 16 l3 Z0 Z1 X3 X2 X1 X0 Z2 Z3 l5 How did we get First what is 10 98 10 98 0 10 98 10 98 0 Rotate about z for 10 98 10 98 10 98 0 0 0 1 1 0 RX 0 c 0 s 10 98 10 98 0 c RZ s 0 0 1 0 0 0 0 1 0 1 0 1 0 Rotate about x for 90 0 s c s 0 c 0 0 1 Then what is 17 17 10 98 10 98 1 44 Then we have 0 0 0 1 as 10 98 10 98 0 0 0 0 1 0 10 98 10 98 0 0 17 10 98 17 10 98 1 44 1



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