METR4202 -- Robotics Tutorial 4 â Week 4: Solutions
METR4202 -- Robotics Tutorial 4 â Week 4: Solutions
METR4202 -- Robotics Tutorial 4 â Week 4: Solutions
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2.a.) Using the Jacobian found in Q1a, calculate the tool point linear velocity if joint 1is rotating at 1 rad/s and joint 2 is rotating at 3 rad/s (a 1 = 2, a 2 = 3 θ1= 167.028 o , θ2=-156.44 O ).⃑[ ̇ ] [ ] [ ̇]̇̇⃑ ̇[ ̇ ] [ ] [ ]̇[ ̇ ] [ ]̇b.) Calculate the resulting joint torques τ, given a force F = (30, -20) is applied to theend effector tool point.[ ] [ ] [ ][ ] [ ] [ ][ ] [ ]2
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