ECE 470: Introduction to Robotics Homework 2
Question 1.
The following figure depicts a robotic arm. All 5 joints are driven by rotational servo
motors as indicated by the front view on the right
(Ignored the 6th motor for gripping at the end effector in this question.).
a) Write down the joint coordinates of the manipulator (1 Points)
b) Sketch a schematic diagram showing the axis of rotation for each joint (2 Points)
c) Assign frames to the links using the D-H convention (5 Points)
d) Show the D-H notations in a D-H table (4 Points)
Figure 1
Question 2.
The following figure shows a two-link planar arm with rotary joints. For this arm, the
second link L2 is half as long as the first L1. The joint range limits are as follows:
0 < 𝑞1 < 𝜋
−
𝜋
2
< 𝑞2 < 𝜋
Sketch the reachable workspace of the tip of L2. It can be assumed that the base box
will not affect the movement of the links. (You may use Matlab to answer the question)
(4 Points)
Figure 2
Question 3
The following two figures depict a two-link arm, with the right figure being the front
view with axis assigned. Given L1=L2=1, find q1 and q2 when 0P = (0.75, -0.75, 0.5)T
.
You may use the result from Homework 1 directly. (4 Points)
.
Figure 3
