Robotic and python

** Image shapes size in meters

Mobile robot – R= 0.35 (m) , L =0.7 (m)

Get X_s and X_g

Shortest way while avoid collision

Mission:

Write python code that will print this image with the path colored ‘red’

Robotic hand “SCARA” will make cut of a shape

The cut table – 0.3 (m) from the floor

The hand base locates In the center of the robot

During the cut F force value 5 -15 (N)

Mass of one vertebral 1 (kg/m)

Knife mass 0.5 (KG)

** THE CUTTING CANT BE THROW THE CUTTING TABLE **

Mission:

1. Print image\ animation of the cutting shape using python

2. Scara robot sketch – length, mass , Moment of inertia

3. The working space of the robot in the yb-xb plane. The boundaries of the work surface for

reference should also be marked.

4. Kinematic model - direct kinematics, inverted kinematics and Jacobian

5. Dynamic model.

6. How to control - PD , computed torque etc….

Also, the following graphs should be presented and explained:

1. Track the edge of the knife in the y-x plane - preferably opposite.

2. The reaction of the joints as a function of time - preferably opposite.

3. The components of positioning the tip of the knife as a function of time - preferably in front.

4. Position the tip of the knife in the direction of z as a function of time, and for a number of

selected values of F. Can it be used

5. In uniform control constants for the entire power value range?

6. a torque / force graph in the motors as a function of time

7. Develop a creative addition as you like to work that will expand the task

Optional shapes: