EE 570: Laboratory 3
Path Planning, Dynamics and Control
Due: Mo 05/04/2009
- Use the Newton-Euler algorithm to find the closed-form dynamic
equations for the planar, RP robot shown below. Assume
the links are symmetric about the center of mass,
so that only principal moments of inertia are present.
- Find the inertia tensor for each link given
m1 = 5 kg, m2 = 4 kg,
l1 = 0.4 m is half the length of link one,
distance from link two's center
of mass to either end is 0.5 m, and that links 1 and 2 can be
represted as solid squares of width 10 cm and 8 cm, respectively.
- Generate smooth trajectories (with zero end velocities)
for the end effector such that
it moves from o2 = [-1.2, 1.2, 0] m to
o2 = [0.8, 0.8, 0] m in 4 s.
- Use inverse kinematics to compute the joint variables
and velocities that would yield the desired end-effector
motion.
- Design and implement a controller from chapter 8 such
that your robot tracks the joint variables determined
from the inverse kinematics.
- Simulate your robot and controller using an ODE solver
and demonstrate its performance in joint space and
task (end-effector) space. You should also be able
to visualize the movement.