To test the implementation on an actual system, the second part asks the students to assign coordinate frames of a specific robot and export the STL files with Solidworks software. A template "forwardKinematicsRST.m" is given to the students as well as the required API. In the first part, students are asked to implement "Forward Pose Kinematics" with the use of RST, which computes pose of all associated coordinate frames of a generic n-DOF serial manipulator according to the modified Denavit-Hartenberg convention. Based on the reading and concurrent lectures, students are tasked to complete 7-part assignment. This allows students to familiarize themselves with modelling and creating robot kinematic model using RST. A preliminary reading on Robotics System Toolbox (RST) is given to students prior to the assignment.
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