Submission for Assignment of Introduction to Robotics (BCCS-9402) course
Submitted by: Aniket Sharma (2019BCS-008)
Problem statement: Write a program to calculate Forward Kinematics and Inverse Kinematics of a PUMA 560 robot.
INPUT:
It takes the DH Table as input.
1. (float) alpha0
2. (float) a0
3. (float) d1
4. (float) theta1
5. (float) alpha1
6. (float) a1
7. (float) d2
8. (float) theta2
9. (float) alpha2
10. (float) a2
11. (float) d3
12. (float) theta3
13. (float) alpha3
14. (float) a3
15. (float) d4
16. (float) theta4
17. (float) alpha4
18. (float) a4
19. (float) d5
20. (float) theta5
21. (float) alpha5
22. (float) a5
23. (float) d6
24. (float) theta6
OUTPUT:
1. (numpy array) End effector position
Example:
INPUT:
1. (float) a2
2. (float) a3
3. (float) d3
4. (float) d4
5. (4 lines of space separated float) Transformation Matrix
OUTPUT:
1. (list of tuple of float) All possible configurations of joint angles
Example:
