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This exercise focuses on the forward-dynamics solution for the planar 3-DOF, 3R robot (parameters from MATLAB Exercise 6B) for motion over time. In this case, ignore gravity (i.e., assume that gravity acts in a direction normal to the plane of motion). Use the Corke MATLAB Robotics Toolbox to solve the forward-dynamics problem (i.e., given the commanded driving joint torques, calculate the resulting robot motion) for the following constant joint torques and the given initial joint angles and initial joint rates: Perform this simulation for 4 seconds. Try function fdyn(). Present two plots for
This exercise focuses on the forward-dynamics solution for the planar 3-DOF, 3R robot (parameters from MATLAB Exercise 6B) for motion over time. In this case, ignore gravity (i.e., assume that gravity acts in a direction normal to the plane of motion). Use the Corke MATLAB Robotics Toolbox to solve the forward-dynamics problem (i.e., given the commanded driving joint torques, calculate the resulting robot motion) for the following constant joint torques and the given initial joint angles and initial joint rates: Perform this simulation for 4 seconds. Try function fdyn(). Present two plots for the resulting robot motion (each set on a separate graph, please): 1. the three joint angles (degrees) T = {? 1 ? 2 ? 3 } T vs. time; 2. the three joint rates (rad/s) = { 1 2 3 } T vs. time. Carefully label (by hand is fine!) each component on each plot. Also, label the axis names and units.
