LAB 2: Robot arm Kinematics and Path planning

10%

For this lab you will need to do the following:

(0.5%) Propose a 2DOF Arm lego-design and build it. Take into account the following requirements:

Add a pencil, marker or pen to the end effector.
For simplicity try to locate the two revolute joints on the same plane.
Add a base to the robot arm in order to keep it fixed and aligned with the reference frame.
Are there different types of linkages that can provide the same motion? Consider pro-s and cons of different motor mountings and arm linkage constructions (see lecture notes).

(0.5%) Determine the work space of your robot. State your answer in the report.
Define a initial position for your robot, such that the robot base is located on (0,0) Cartesian coordinates.(0.0%)

(0.5%) Write a program that given two angles, the robot moves to their corresponding joint angles, and returns the (x,y) position of the end effector. Measure the accuracy/repeatability of your 2DOF robot. State your answer in the report.
(0.5%) Give your robot the functionality of measuring distances and angles in a 2D plane.

(2%) Write a program that receives as input a (x,y) location inside the robot working space and locates the robot end effector at the input location.
(1%) Write a program that finds mid points between two points. i.e. The user moves the end effector to point1 stores that location then moves the end effector to point2 stores the second location and then runs the midpoint algorithm which locates the robots end effector in the middle of the two points.

Draw a straight line defined by two points.
Draw a straight line defined by a point, angle with respect to an horizontal axis and distance.
Draw an arc defined by n points.

(1%) Using the pencil attached to your robots end effector, complete the labyrinth, draw the right path to the exit.(if the labyrinth doesn't fit your working space, you can propose a similar version.)

Build a 3DOF robot arm.
Calculate the Denavit-Hartenberg parameters for your robot arm, or compose the link matrix transforms. Please include an image or diagram of your robot indicating frames of reference and links measurement.

Write a program that locates the robot end effector in a given (x,y,z) coordinate.

(0.5%)Propose a manipulation task that can be solved with your robot arm. e.g. write a program that receives as input a 2D image and controls the robot to draw the input file.