The equations of kinematic in robot Assignment 2022

Assignment-1
Figure 1-1. Assignment1
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s
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s
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s
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s
th1
th1dot
th2
th2dot
u1
u2
TL
t2
th2dd
m2
th1
th1dot
th2
u1
th1dd
t1
m1
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Load
th2
th1
Assignment-1:
The equations of kinematic in robot arm is the connections between the positions, speeds, and
increasing velocities of the connections of a controller. The dynamic investigation is the
connection among power and movement produce on the joints and connections. The
kinematics separate in two sorts, forward kinematics and backwards kinematics. In forward
kinematics, the length of each connection and the edge of each joint is given and we need to
compute the situation of any point in the work volume of the robot. In unique investigation,
to have the option to control a robot controller as required by its activity, it is imperative to
think about the dynamic model in structure of the control calculation and re-enactment of
movement. The numerical conditions for kinematic and dynamic displaying of two
connection planar robot controller having two re-volute joints are inferred and conditions are
dissect by getting MATLAB here. The reproduced outcomes are plotted. In this way different
concerned illustrations comparing to expressed investigation and math have been discussed.
Two step input voltages Vm1 and Vm2 to the first and the second motors, with final values of
500 V and 50 V, respectively applied as shown in the figure below.