Intro to Robotics

3. A 2-link planar arm has a revolute joint at (0;0;0) in the fixed frame, with a 12 cm link attached. At the end of that link is a second revolute joint with a 9 cm link attached. Assuming the end of the second link is the end effector position, a.) write 2 homogeneous matrices that describe the transformation from the origin in the fixed frame to the endpoint, P. b.)Write a SciLab or MATLAB program that models the forward kinematics of the 2-Link Planar Arm. (See example code, TwoLinkPlanarArm) Calculate the pose of P for two sets of joint Angles, a.) 0 = ( 30; -90) and b.) = (-90; 90) 3. A 2-link planar arm has a revolute joint at (0;0;0) in the fixed frame, with a 12 cm link attached. At the end of that link is a second revolute joint with a 9 cm link attached. Assuming the end of the second link is the end effector position, a.) write 2 homogeneous matrices that describe the transformation from the origin in the fixed frame to the endpoint, P. b.)Write a SciLab or MATLAB program that models the forward kinematics of the 2-Link Planar Arm. (See example code, TwoLinkPlanarArm) Calculate the pose of P for two sets of joint Angles, a.) 0 = ( 30; -90) and b.) = (-90; 90)