New York University Robotic Direct and Inverse Kinematics Matlab Coding Task

ogna

Engineering

New York University

### Question Description

Please follow the instructions in the PDF, this assignment includes Matlab coding and a report.

### Unformatted Attachment Preview

Purchase answer to see full attachment
Student has agreed that all tutoring, explanations, and answers provided by the tutor will be used to help in the learning process and in accordance with Studypool's honor code & terms of service.

1

Robotic Direct and Inverse Kinematics
Name
University
Date
Part 1:
Output:

Figure 1: Position

Figure 2: Velocity

2

Figure 3: Acceleration

Figure 4: trajectory in the robot operational space of 4

Summary:
A robot’s end-effectors must be moved from position [0, 0, 0] to position [0.5, 0, 0.5] within 0.6
seconds. The duration of the initial acceleration phase should be 1 second. A trapezoidal velocity
profile should be used for the end-effectors position.
For position profiles :- we have a minimum three degree of polynomial equation because
position is a point function of any system. As, velocity is the rate of change of position of the
object. we have to differentiate the position polynomial equation of the profile.

3

So, the minimum degree of polynomial function for obtaining velocity profiles is two.
Moreover, as, acceleration is the rate of change of velocity of the object. we have to differentiate
the velocity polynomial equation of the profile. So, the minimum degree of polynomial function
for obtaining accel...

yrrxneyn562 (226)
Cornell University
Review
Review

Anonymous
Nice! Really impressed with the quality.

Studypool
4.7
Trustpilot
4.5
Sitejabber
4.4