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Lab 9

Lab 9. Robot Arm Path Planning TAS : Kedar Amladi & Margaret Toebes. Goal. Build a two link RR robot arm and demonstrate inverse kinematics and path planning by safely navigating a known workspace. The Arm. The arm should have a stable base that doesn't slide around during the demo

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Lab 9

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  1. Lab 9 Robot Arm Path Planning TAS: KedarAmladi & Margaret Toebes

  2. Goal • Build a two link RR robot arm and demonstrate inverse kinematics and path planning by safely navigating a known workspace.

  3. The Arm • The arm should have a stable base that doesn't slide around during the demo • Please attach something to the end effector so we can make measurements

  4. Playing Field Each block is ½ of an inch

  5. Demo • On demo day, you will be given two (x,y) positions A and B. • Your robot must navigate from the reference configuration ->A -> B -> A • Your arm should come to a complete stop at each position, and should not continue until its position is recorded by the grader. • If your robot arm touches the obstacle or leaves the workspace, your current try ends.

  6. How To (suggestion) • Map out your robot’s configuration space. • Write a function that will perform inverse kinematic calculations to convert your robot’s position into a set of joint angles . • Follow steps similar to lab 5 by using a set of waypoints that span the space.

  7. Tips • Make your robot arm as rigid as possible, and gear down the arm motors to increase precision. • Remember to check all configurations generated by inverse kinematics. It is not necessary that all configurations will be reachable under the constraints of the obstacle.

  8. Demo Grading • Grade will be best of three tries • A run is worth a total of 65 points: • Distance off from A (<.25in, <.50in) – (10,5) points • Distance off from B (<.25in, <.50in) – (25,10) points • Distance off from A (<.25in, <.50in) – (30,20) points • Distances are calculated using L2 metric. • Runs end when arm hits obstacle or leaves workspace.

  9. Demo Day • Next Tuesday: April 22nd

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