Reference no: EM132681911

MANU1417 Advanced Robotics - RMIT University

Objective
The goal of this assignment is to evaluate a 3R robot that would move from a start position to an end position in a desired path over a five second time frame. Then from this data torque values for each of the three motor joints based on a specific gravity and point-mass values for each joint would be found. For the purposes of this project the arms are assumed to be mass- less.

Arm length
• L1 has a constant length of 0.2m.
• L2 is the second arm and is the sum of a person's student ID number divided by 100, in meter.
• L3 is the third arm and is the sum of a cell phone number with the area code divided by 100, in meters.

Path point
• Rest to rest path between the initial and final points.
• Initial path point 1 is [.7(L1 + L2) 0.1 0.3]
• Final path point 2 is .[-5(L1 + L2) -0.1 0.4]

Forbidden zone for the tip point
• there is no forbidden zone. The tip point can move on any path between the end points.

Mass
• m1=1kg
• m2=1kg

mass of the motor at second joint mass of the motor at third joint

• m3=1kg mass of load at the tip point

Rules:
• Robot can't go underground.

Requirements:
Torques, Joint coordinates, velocity, and acceleration, Joint variables, velocity and acceleration, as functions of time.