Scribd
Upload
5 views1 page

Assignment 1

Exercise robotic

Uploaded by

mohammad.arabia.mohammad
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
5 views1 page

Assignment 1

Exercise robotic

Uploaded by

mohammad.arabia.mohammad
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
You are on page 1/ 1

‫بسمه تعالی‬

‫رباتيك‬ ‫ﺗمرين اول‬


٩٨ ‫پاييز‬
CW‫ ﻣﻬر روي‬٢٤ ‫ﺗحويل دوشنبه‬

1. The following MATLAB function generates the homogenous transformation for translation of d along
axis
function T=Trans(axis, distance)
%Homogenous transformation along "axis" for the amount of "distance"
axis=upper(axis);
if (axis == 'X')
T=[1 0 0 distance; 0 1 0 0; 0 0 1 0; 0 0 0 1];
end
if (axis == 'Y')
T=[1 0 0 0; 0 1 0 distance; 0 0 1 0; 0 0 0 1];
end
if (axis =='Z')
T=[1 0 0 0; 0 1 0 0; 0 0 1 distance; 0 0 0 1];
end

2. Write a similar function that performs homogenous rotation about axis for angle
function R=Rot(axis, angle)

3. Write a MATLAB function that finds the location of the end-effector (last link) with respect to a fixed
frame as a function of 1, 2 , and d. Show your notations and frame assignments (follow the Denavit-
Hartenberg convention) on the following figure and submit along with your MATLAB code.

You might also like