A mobile platform with body frame named Fame1 is located initially in the positon [X0= 2000; y0=2000; z0=1000] of the global reference frame Frame0, and the orientation of Frame1 is intially identical to the Frame0. Then the platform starts to move along a trajectory that is defined by the profile [x0+200*t; y0+100*t; z0+300*sin(pi/2*t)] w.r.t global Frame in time t, and at the same time the Frame1 is also rotating aroud its own Z axis with constant velocity pi/2/second in rad. An industrial robot is installed on the platform and the robot reference frame coincides with the Frame1. At the time zero, the robot end-effector with a reference frame named Frame2 is locted at [500; 300; 400] w.r.t robot reference frame. After 45 seconds, the end-effector has travelled a distance of [500*sin(pi/4*t); 500*sin(pi/4*t); 500*sin(pi/2*t)] w.r.t its own robot reference frame, and at the same time the end-effector rotates around its x axis 60 degrees. . Compute the location and roll-pitch-yaw of the robot end-effector after 45 seconds with respect to (w.r.t) global frame. % write you codes here to compute t_1 = 45; % unit: second % inital location Ро = [2000; 2000; 1000]; % unit: mm
A mobile platform with body frame named Fame1 is located initially in the positon [X0= 2000; y0=2000; z0=1000] of the global reference frame Frame0, and the orientation of Frame1 is intially identical to the Frame0. Then the platform starts to move along a trajectory that is defined by the profile [x0+200*t; y0+100*t; z0+300*sin(pi/2*t)] w.r.t global Frame in time t, and at the same time the Frame1 is also rotating aroud its own Z axis with constant velocity pi/2/second in rad. An industrial robot is installed on the platform and the robot reference frame coincides with the Frame1. At the time zero, the robot end-effector with a reference frame named Frame2 is locted at [500; 300; 400] w.r.t robot reference frame. After 45 seconds, the end-effector has travelled a distance of [500*sin(pi/4*t); 500*sin(pi/4*t); 500*sin(pi/2*t)] w.r.t its own robot reference frame, and at the same time the end-effector rotates around its x axis 60 degrees. . Compute the location and roll-pitch-yaw of the robot end-effector after 45 seconds with respect to (w.r.t) global frame. % write you codes here to compute t_1 = 45; % unit: second % inital location Ро = [2000; 2000; 1000]; % unit: mm
Elements Of Electromagnetics
7th Edition
ISBN:9780190698614
Author:Sadiku, Matthew N. O.
Publisher:Sadiku, Matthew N. O.
ChapterMA: Math Assessment
Section: Chapter Questions
Problem 1.1MA
Related questions
Question
also compute all the three angles
![A mobile platform with body frame named Fame1 is located initially in the positon [X0= 2000;
y0=2000; z0=1000] of the global reference frame Frame0, and the orientation of Frame1 is intially
identical to the Frame0. Then the platform starts to move along a trajectory that is defined by the
profile [x0+200*t; y0+100*t; z0+300*sin(pi/2*t)] w.r.t global Frame in time t, and at the same time
the Frame1 is also rotating aroud its own Z axis with constant velocity pi/2/second in rad. An
industrial robot is installed on the platform and the robot reference frame coincides with the
Frame1. At the time zero, the robot end-effector with a reference frame named Frame2 is locted at
[500; 300; 400] w.r.t robot reference frame. After 45 seconds, the end-effector has travelled a
distance of [500*sin(pi/4*t); 500*sin(pi/4*t); 500*sin(pi/2*t)] w.r.t its own robot reference frame, and
at the same time the end-effector rotates around its x axis 60 degrees.
. Compute the location and roll-pitch-yaw of the robot end-effector after 45 seconds with
respect to (w.r.t) global frame.
% write you codes here to compute
t_1 = 45; % unit: second
% inital location
Ро
=
[2000; 2000; 1000]; % unit: mm](/v2/_next/image?url=https%3A%2F%2Fcontent.bartleby.com%2Fqna-images%2Fquestion%2Fe23ae763-28c2-4106-8a99-c21e032becaf%2F4573e328-3cb7-43a6-856d-47ad5e93c62c%2F34aw9ku_processed.png&w=3840&q=75)
Transcribed Image Text:A mobile platform with body frame named Fame1 is located initially in the positon [X0= 2000;
y0=2000; z0=1000] of the global reference frame Frame0, and the orientation of Frame1 is intially
identical to the Frame0. Then the platform starts to move along a trajectory that is defined by the
profile [x0+200*t; y0+100*t; z0+300*sin(pi/2*t)] w.r.t global Frame in time t, and at the same time
the Frame1 is also rotating aroud its own Z axis with constant velocity pi/2/second in rad. An
industrial robot is installed on the platform and the robot reference frame coincides with the
Frame1. At the time zero, the robot end-effector with a reference frame named Frame2 is locted at
[500; 300; 400] w.r.t robot reference frame. After 45 seconds, the end-effector has travelled a
distance of [500*sin(pi/4*t); 500*sin(pi/4*t); 500*sin(pi/2*t)] w.r.t its own robot reference frame, and
at the same time the end-effector rotates around its x axis 60 degrees.
. Compute the location and roll-pitch-yaw of the robot end-effector after 45 seconds with
respect to (w.r.t) global frame.
% write you codes here to compute
t_1 = 45; % unit: second
% inital location
Ро
=
[2000; 2000; 1000]; % unit: mm
Expert Solution
This question has been solved!
Explore an expertly crafted, step-by-step solution for a thorough understanding of key concepts.
Step by step
Solved in 2 steps with 4 images
Recommended textbooks for you
Elements Of Electromagnetics
Mechanical Engineering
ISBN:
9780190698614
Author:
Sadiku, Matthew N. O.
Publisher:
Oxford University Press
Mechanics of Materials (10th Edition)
Mechanical Engineering
ISBN:
9780134319650
Author:
Russell C. Hibbeler
Publisher:
PEARSON
Thermodynamics: An Engineering Approach
Mechanical Engineering
ISBN:
9781259822674
Author:
Yunus A. Cengel Dr., Michael A. Boles
Publisher:
McGraw-Hill Education
Elements Of Electromagnetics
Mechanical Engineering
ISBN:
9780190698614
Author:
Sadiku, Matthew N. O.
Publisher:
Oxford University Press
Mechanics of Materials (10th Edition)
Mechanical Engineering
ISBN:
9780134319650
Author:
Russell C. Hibbeler
Publisher:
PEARSON
Thermodynamics: An Engineering Approach
Mechanical Engineering
ISBN:
9781259822674
Author:
Yunus A. Cengel Dr., Michael A. Boles
Publisher:
McGraw-Hill Education
Control Systems Engineering
Mechanical Engineering
ISBN:
9781118170519
Author:
Norman S. Nise
Publisher:
WILEY
Mechanics of Materials (MindTap Course List)
Mechanical Engineering
ISBN:
9781337093347
Author:
Barry J. Goodno, James M. Gere
Publisher:
Cengage Learning
Engineering Mechanics: Statics
Mechanical Engineering
ISBN:
9781118807330
Author:
James L. Meriam, L. G. Kraige, J. N. Bolton
Publisher:
WILEY