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Python Program for 2DoF Manipulator

This document is an assignment submission for a robotics course. It contains the objective to write a Python program that draws the kinematic diagram of a 2 degree of freedom robotic manipulator for any change in input parameters. It outlines the steps to attach coordinate frames to links, compute the Denavit-Hartenberg parameters and homogeneous transformation matrices to arrive at the kinematic diagram. It lists Python Pygame library, Sublime Text 3, and Microsoft Word as the software tools used.

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vishal
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3 views4 pages

Python Program for 2DoF Manipulator

This document is an assignment submission for a robotics course. It contains the objective to write a Python program that draws the kinematic diagram of a 2 degree of freedom robotic manipulator for any change in input parameters. It outlines the steps to attach coordinate frames to links, compute the Denavit-Hartenberg parameters and homogeneous transformation matrices to arrive at the kinematic diagram. It lists Python Pygame library, Sublime Text 3, and Microsoft Word as the software tools used.

Uploaded by

vishal
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd

Atal Bihari Vajpayee Indian Institute of Information

Technology and Management

INTRODUCTION TO ROBOTICS
ASSIGNMENT 4

Group Number : 8

Submitted By :
Vishal Babani ( 2018 BCS - 063)
Tanay Saxena ( 2018 BCS – 055 )
OBJECTIVE

For any change in the parameters (given as input) of


the manipulator, write a python program which draws
the kinematic diagram of the chosen 2DoF
manipulator.
The steps to be followed in drawing the 2DoF
manipulator are as follows:
1. Attach co-ordinate frames to the links.
2. Find the D-H table
3. Compute the homogenous transformation matrices.
Now plot/draw the same to arrive at the kinematic
diagram of the 2DoF manipulator.

SOFTWARE TOOLS USED

1. Python Pygame Library for the animation.


2. Sublime Text 3 – to implement the code.
3. Microsoft Word – to create the report.

SCREENSHOTS

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