I NEED F) G) AND H) ONLY. PLEASE HELP. PLEASE WRITE THE MATLAB CODE. A 4-DOF robot arm was shown in the figure 1 . For this robot:
a) Assign coordinate frames based on the D-H representation.
b) Fill out the D-H parameters table.
c) Find the link transformation matrix for each link.
d) Find the Forward kinematics of the robot.
e) Find the Inverse kinematics of the robot.
f) Find the Jacobian Matrix.
g) Find the torques of the joints for the joint space trajectory by using Newton-Euler method.
h) Write the code in MATLAB and simulate the robot.
I_(1)=[[0.0384,0,0.01,0.048,0,0,0.05]]
0.01
0.01
0,I_(2)=[[0.155,0,0,0.0053,0,0,0.1549]]
0
0
I_(3)=[[0.0639,0,0,0.0634,0,0,0.0014]]
0
0,I_(4)=[[0.00011,0,0,0.00012,0,0,0.00006]]
0
0
A 4-DOF robot arm was shown in the figure 1. For this robot:
a) Assign coordinate frames based on the D-H representation.
b) Fill out the D-H parameters table
c) Find the link transformation matrix for each link.
d Find the Forward kinematics of the robot
e)Find the Inverse kinematics of the robot.
f Find the Jacobian Matrix.
g) Find the torques of the joints for the joint space trajectory by using Newton-Euler method
h) Write the code in MATLAB and simulate the robot
Parameters
Values
Units
14
11
0.4
m
l2
0.1
m
13
lz
0.6
m
d3
12
14
0.05
m
ms
9.7
kg
02
m2
4.864
kg
11
m3
3.153
kg
Zo
Yo
ms
0.178
kg
Xo
0.0384 0 0.01] 0 0.048 0 0.01 0 0.05]
[0.155 0 0 12 0 0.0053 0 0 0 0.1549]
1
0.0639 0 0 0 0.0634 0 0 0 0.0014]
[0.00011 0 0 0 0.00012 0 0 0 0.00006]
