Code

All of the Matlab and Ardunio codes have been uploaded to google docs, select the link below to view the codes:

https://docs.google.com/leaf?id=0B2gVQE_RlT-UZjE1N2VjYjItZjRhYS00ZWEwLWJjYmEtNjJkOTk2NTU2ZmI3&hl=en

You will also need the Arduino IDE if you do not already have it. It can be found on Arduino's website or just click the link below:

http://arduino.cc/en/Main/Software

Final Exam Question

Question:

a) Derive the D-H table for the RR manipulator above. Assume h=0;

b) Solve for the transformation matrix . (Note this is not the normal matrix )

Alternatively to simplify the problem, b) could be written as:

b) Solve for the transformation matrix , then explain how to derive from .

Solution:

Project Title:
Member Names (with emails):

Brief Project Description:

Objectives:

Picture:

Model, including Jacobian:

Block Diagram:

Control Design:

Implementation Notes:

Results:
(MATLAB plots)

Discussion: