please helppp!!!!
just brought one of many new engineering books and the one I started is on Matlab
for robotics and the toolbox but need help with the questions.
here are the questions
This will be based on a series of experiments with the Lynxmotion1 robot arm.
- Derive a DH representation of forward kinematics for the Lynxmotion arm.
- Analyse the workspace of the robot’s end-effector when each preceding joint moves through its range of motion and plot its 2D views.
- Derive the inverse kinematics for the Lynxmotion arm using the Robotic Toolbox in MATLAB. Test a IK model in 3 different Cartesian positions and demonstrate the accuracy of your model (include necessary comparisons). Create the appropriate plots.
- Plan a task* in MATLAB with at least 5 positions, plot the robot and show an investingation. This process should give you 5 sets of Cartesian coordinates (x,y,z) and angles yaw, pitch, roll specifying the end-effector position and orientation in 3D space (Task: is to pick up a small ball and put it in a cup).
- Solve the Inverse Kinematics for these positions in 3D space and obtain sets of Joint Parameters. Create an appropriate plot/animation in MATLAB (use Robotic Toolbox) for the motion of the robot. MOVE THE ROBOT between the points (film the motion of the robot and provide the video).
- Use a set of Lynxmotion arm joint values to create a free motion trajectory between the points
- Implement a velocity profile with at least 3 different velocities (e.g. start, intermediate and end velocities) (MATLAB only)
- Do a full FK Lynxmotion arm and explain how you can derive the closed-form IK model
