Need someone experience in Robotics & Cybernetics

Consider the following sequence of rotations and translations:

• Rotate by ? = 40° about the world x-axis.

• Translation ? = 1 along world z-axis.

• Rotate by ? = 55° about the world y-axis.

• Rotate by ? = 60° about the current x-axis.

• Translation ? = 0.5 along current x-axis.

Write the matrix product that will give the resulting homogenous transformation matrix. Calculate the resultant transformation matrix.

Consider the planar robots shown in Figure 1 where a1=a2=40 cm. To move the joint O2 from position A=[15 52] to B and then to C=[48 15] and D, how the joint angle

1 (t) and

2 (t) should be altered. Please comment on possible solutions

and how the best solution is selected. For the selected solution, draw both

1 (t)

and

2 (t) as a function of time.

机器人技术 Robot Operating System (ROS) 工程 报告写作

项目ID： #32535466

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