EE 570: Programming Laboratory 2
3D Manipulator Visualization and Forward Kinematics
Write a program to compute the forward (position)
kinematics and display a manipulator in three dimensions.
The program should take as inputs:
- the D-H Table and
- a series of correlated joint variables, q that describe
the joint movement over time.
The program should output or show:
- Homogeneous Transformation Matrix relating end-effector position
and orientation to the base frame;
- display of frames 1 to n (with ability to turn on/off);
- link offsets and lengths as cylinders (or fancier objects)
to visualize robot (see figure below as example,
be able to turn on/off).
Manipulators for which visualization and forward
kinematics should be tested (should work for others as well):
- Stanford
- SCARA
- PUMA 260
- Three-Link Planar RRR
- Two-Link Planar RP
Test your forward kinematics for a variety of q including
moving them one joint at a time, and turn in results (values plus
visualization) for the cases qi = 0 (rad or dist);
qi = 1 (rad or dist), and qi = -1 (rad or dist).