22C:161 Introduction to Robotics Spring 1995

Homework 5 - Due Monday , March 6

In this homework assignment, you will implement the velocity and force propagation algorithms of Chapter 5.

1. Implement routines that compute the end-effector velocity and angular velocity given an arm's joint rates. Your routines should work for any robot. So, basically, you should add a joint velocity slot to you robot link data structure. Then, write the routines corresponding to the base-to-end-effector outward velocity propagation of Section 5.6.
2. Implement routines that compute the joint torques (force for prismatic joints) required to resist a given end-effector input force. You'll be given as input a force and torque exerted by the last frame on some external object (e.g. a wall or thing to be picked up). You should implement routines corresponding the end-effector-to-base inward force propagation that will yield joint torques that produce this end-effector force.
3. Demonstrate your routines by some means. You could, for instance, generate joint angle rates from a MOVE command (implemented in the previous homework), and print out end-effector velocities during the move. For easier-to-understand output, producing a graph of the velocities over time would be nice.