Description

Problem 1

Image Source:
https://www.merlin.uzh.ch/contributionDocument/download/6684#:~:text=The%20arm%20of% 20the%20KUKA,to%200.5%20kg%20in%20weight.

Joints marked on the Kuka Arm in the diagram represent θ1, θ2, θ3 respectively. Base joint and the gripper joints also rotate and, translate but for this assignment you would be working only on planar problems.

1.A) Given a base model of Kuka YouBot as shown, make the mobile platform travel 5 m in a straight line at a speed of 0.1 m/s.
1.B) Now, once it reaches the destination, make the mobile platform rotate on the spot at an angular rate of 0.5 rad/s.

1.C) For the same model, make the robot Kuka arm end-effector travel in a straight line
1.D) Next, make the Kuka arm end-effector travel a semi-circular trajectory of radius maximum possible radius (Planar condition). (Hint: Refer
https://www.researchgate.net/publication/341813494_Low-
Cost_Automation_for_Gravity_Compensation_of_Robotic_Arm to get an idea on the kinematics of the arm)

In separate graphs for all problems 1.A through 1.D, plot (i) X vs t (ii) Y vs t (iii) X vs Y. Problems 1.C and 1.D: plot all the joint angles vs t in a single graph for each problem. You can use CoppeliaSim or Matlab to obtain your graphs.

Bonus points: Additional bonus points would be awarded if you can integrate the use of Peter Corke’s Robotics Toolbox functions.