M. De Cecco - Lucidi del corso di Robotica e Sensor Fusion Initial posture is q 0 = [ ] T that, in the operative space, correspond to the end effector position [0 0.5] T with zero attitude 0.5 m Kinematics Inversion - Homework Planar manipulator with three links of length 0.5 m

M. De Cecco - Lucidi del corso di Robotica e Sensor Fusion Kinematics inversion with transposed Jacobian: First guess: Kinematics Inversion - Homework

M. De Cecco - Lucidi del corso di Robotica e Sensor Fusion Kinematics inversion with invers Jacobian Kinematics Inversion - Homework

M. De Cecco - Lucidi del corso di Robotica e Sensor Fusion Kinematics Inversion - Homework In class we simulated a circular trajectory of radius 0.25 m and center in (0.25, 0.5) with the following law for the end effector: For the homework we will unconstrain the attitute and will exploit the resulting redundancy to add other constraints (obstacle avoidance etc)

M. De Cecco - Lucidi del corso di Robotica e Sensor Fusion Simulate the kinematics inversion to obtain the following trajectories: Si vuole che lorgano terminale esegua, in due secondi, i seguenti percorsi: 1. Circular with radius 0.25 m and center in (0.25, 0.5) in 2 s 2. Circular with radius 0.25 m and center in (0.25, 0.5) and an obstacle, considered as a point, in (-0.2, 0.25) 3. For the trajectories 2 and 3 insert also the angle limits [90, 360]° for the base joint Compare the obtained trajectories in the joint space (compare also with the simulation in class) Change the initial posture forcing the robot to start from a position far from the path and study its convergence (to the path) behaviour also changing the K gain matrix Insert a physical model of the drivers and of the robot (making some free assumptions about its mass) Change the robot kinematics (optional) Connect the simulink simulation with working model (optional) Kinematics Inversion – list of duties