Assignment 2: Jacobians, Trajectory Planning and Robot Programming
JACOBIANS
- With the Jacobian of a manipulator we can compute speeds in the Cartesian speeds out of speeds in the joint space. Explain what is the difference between J0 and Jn of a manipulator, when they are used to compute the Cartesian speeds out of the joints speeds
- How do you convert J0 to Jn ? Why is it important to make computations respect to frame {0}?
TRAJECTORY PLANNING Your task is to plan a welding profile done by a robot. The robot that performs this operation has a welding torch attached to its last link.
ABB Robot Programming: Rapid programming
Questions are in the "Questions_RMCP_Assignment_2.pdf" and answers are in the "RMCP - A2". Matlab file "Trajectory_RMCP_Assignment.m" contains matlab code Jacobian and Trajectory planning.