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Homework 5

The homework assignment for MECH 5132/6032 involves group work on robot control and design, focusing on trajectory planning for a single joint and a two-link manipulator. Students are required to derive conditions for time and compute cubic polynomials for joint space trajectories, as well as simulate the manipulator's path using MATLAB or Python. The final submission must include hand-written solutions, plots, and code for the specified problems.

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Prasad Naidu
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5 views3 pages

Homework 5

The homework assignment for MECH 5132/6032 involves group work on robot control and design, focusing on trajectory planning for a single joint and a two-link manipulator. Students are required to derive conditions for time and compute cubic polynomials for joint space trajectories, as well as simulate the manipulator's path using MATLAB or Python. The final submission must include hand-written solutions, plots, and code for the specified problems.

Uploaded by

Prasad Naidu
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
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Homework Assignment 5 (To be done in group)

MECH 5132/6032 – Robot Control and Design


Total Marks 100

Please scan your (hand-written) submission, zip all the files together, and upload on the
canvas.

1. A single joint needs to move from 𝜃0 to 𝜃f , starting and ending at rest, in time tf . The
values of 𝜃0 and 𝜃fare given, but we wish to calculate tf so that these constraints hold:
"𝜃̇(𝑡)" < 𝜃̇𝑚𝑎𝑥 and "𝜃̈(𝑡)" < 𝜃̈𝑚𝑎𝑥for all t, where 𝜃̇𝑚𝑎𝑥 and 𝜃̈𝑚𝑎𝑥 are given positive
constants.

Using a single cubic segment, obtain equations for the cubic’s coefficients ai in terms of 𝜃0,
𝜃fand tf .
(a)

Using the velocity constraint, "𝜃̇(𝑡)" < 𝜃̇𝑚𝑎𝑥|, derive a condition on tf in terms of 𝜃0,
𝜃f and 𝜃̇𝑚𝑎𝑥 .
(b)

Using the acceleration constraint, "𝜃̈ (𝑡)" <


, derive a condition on tf in terms of 𝜃0,
𝜃𝑚
(c)
𝑎𝑥

𝜃f and 𝜃̈𝑚𝑎𝑥 .

Suppose we desire a joint space trajectory 𝑞̇&𝑑 for the i-th joint (assumed to be revolute) that
2.

begins at rest at position 100 at time 0 sec and reaches position 350 in 2 seconds with a final
velocity of 00 /sec (arrives at rest), and then goes to position 250 in 3 seconds (from start) with
a final velocity of 00 /sec (arrives at rest).

(a) Compute two cubic polynomials satisfying these constraints. Plot the position,
velocity, and acceleration as a function of time. You may use Matlab or Python to
plot. Attach your plots (not code) with submission.
(b) Compute two Linear Segments with Parabolic Blends trajectory to satisfy the same
requirements considering blend acceleration to have magnitude of 500 /sec2. Sketch
the resulting position, velocity, and acceleration profiles. You may use Matlab or
Python to plot. Attach your plot (not code) with submission.
Please submit your code for the following problem.
(a) Write down a Matlab/Python program to determine path of a two link manipulator (with

from initial position 𝜃 = + , 0. to the final position 𝜃 = + , 0.. The lengths of links
base located at [0, 0]) using(𝜋 𝜋 that moves the manipulator
the artificial potential field approach

are l1 =
* *
0.2, l2=0.2. The obstacles are located at positions [0.22 -0.22] and [-0.22 -0.22]. See figure
below
Please submit your code for the following problem.
(a) Write down a MATLAB/Python program to determine path of a two link manipulator (with

from initial position 𝜃 = + , 0. to the final position 𝜃 = + , 0.. The lengths of links
base located at [0, 0]) using(𝜋 𝜋 that moves the manipulator
the artificial potential field approach

are l1 =
* *
0.2, l2=0.2. The obstacles are located at positions [0.22 -0.22] and [-0.22 -0.22]. See figure
below

(b) Simulate the mechanism that follows the above path using a cubic polynomial function. The
robot needs to cover the entire path in 5 seconds. You will need to come up intermediate
way points and develop a smooth trajectory using a cubic polynomial function to goes from
initial position to the final position. Your program should show a simulation of the robot
moving from the initial to the final position.

0.5 0.5

0.4 0.4

0.3 0.3

0.2 0.2

0.1 0.1

0 0

-0.1 -0.1

-0.2
-0.2

-0.3
-0.3
-0.4
-0.4
-0.5
-0.5 -0.5 0 0.5
-0.5 0
0.5

Schematic showing initial (left) and final (right) positions.

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