EE 570: Laboratory 4

Forward and Inverse Kinematics of the CRS A255 Robot

Due: ??

1. Consider the CRS A255 Robot available in the laboratory and described in this brochure.
2. Find the DH Table.
3. Find the forward kinematics.
4. Find the inverse kinematics.
5. Experiment with the robot to find the relationship between the DH joint variables and what its software is providing. Also check the end-effector position to find the robot's frame assisnment and whether the end-effector is included. Then confirm your kinematics by taking measurements and checking what the software provides for the current configuration.
   • Locate the Emergency Stop button and be ready to push it should the robot move in any way that is dangerous to itself or you.
   • Instructions will be left with the robot, but make sure align joints first and then "home" it before use. After homing "ready" should take the robot to [0, 90 deg, 0, 0, 0]. If it does not, then "home" the robot again.
   • Commands of interest will be "home", "wact", "ready", "joint", "speed", "grip_open", "grip_close", "help" and "armpower". "help " gives help on the particular command.