Send a message to roger.toogood@ualberta.ca
This assignment is concerned with the Mitsubishi RM-101 robots located in the Mec E 301 lab. You can make an arrangement to get in to see one of these robots to determine its geometry. I will try to arrange to have a couple of photographs of the robot available here.
a) Draw a sketch of the robot in the ZERO position and clearly identify and label the link coordinate frames. Make a table of the Denavit-Hartenberg parameters.
b) Find the A matrices.
c) Obtain the forward kinematics.
d) Develop a fail-safe symbolic algorithm for the inverse kinematic solution. Note the following joint limits:
| Joint | Minimum degrees | Maximum degrees |
| 1 - Body | -120 | 120 |
| 2 - Shoulder | -30 | 120 |
| 3 - Elbow | -120 | 0 |
| 4 - Wrist Pitch | -90 | 90 |
| 5 - Wrist Roll | -180 | 180 |
For parts (c) and (d), write two script files using MATLAB to carry out the computations. Verify your solution. For example, if you input legal joint values, the forward solution should provide you with the elements of T5. Are these correct? Then, taking the computed T5 as input, your inverse solution should return your initial starting angles. This procedure will only prove that your algorithm works correctly for legal positions. Your inverse kinematic solution should also intercept and correctly identify the cause when an illegal end effector position is input.
e) Compare the results of your MATLAB scripts to the Toolbox ikine and fkine functions. Which requires fewer computations? (Hint: you can measure this with the MATLAB flops function.)
For reference, some dimensions of the RM 101 are as follows: