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DH Parameters and Kinematics Animation

The document outlines tasks for analyzing a manipulator using the Denavit-Hartenberg (DH) method, including referencing frames and creating a table of DH parameters. It also requires computing the forward kinematics of the manipulator and creating an animation to illustrate its motion over a specified time with defined parameters. The animation should be saved in GIF format, demonstrating the manipulator's movements as various joint angles and distances change over time.

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walthamsmith0
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3 views1 page

DH Parameters and Kinematics Animation

The document outlines tasks for analyzing a manipulator using the Denavit-Hartenberg (DH) method, including referencing frames and creating a table of DH parameters. It also requires computing the forward kinematics of the manipulator and creating an animation to illustrate its motion over a specified time with defined parameters. The animation should be saved in GIF format, demonstrating the manipulator's movements as various joint angles and distances change over time.

Uploaded by

walthamsmith0
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

For the manipulator shown on the right,

① Please reference frames according to the DH method and write 𝑑 𝜃2


𝜃3
the DH parameters in a table.
i ⍺𝑖−1 𝑎𝑖−1 𝑑𝑖 𝜃𝑖

1 𝜃1
𝑦0
2
3 𝑥0

② Compute the forward kinematics of the manipulator.

③ Finish a animation to show the motion of the manipulator. 𝐿0 = 1.2 𝑚, 𝐿1 = 0.5 𝑚, 𝐿2 = 0.5 𝑚, 𝐿3 = 𝐿4 =
𝐿5 = 1 𝑚, All the variables 𝑑, 𝜃1 , 𝜃2 , 𝜃3 are moving with constant speed in time [0, 3] s. 𝑑 starts with 0 m
and ends with 1.2 m. 𝜃1 starts with 0°and ends with 90°, 𝜃2 starts with 0°and ends with 150°, 𝜃3 starts with
90°and ends with -90°. Please save the animation as gif format.

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