Project 1: Forward Kinematics (Due 2/6)

Do this project in a git repo named forwardName1Name2 where Name1 and Name2 are the names of you and your partner.

  1. Draw a diagram of the robotic arms we are using in class, in neutral position (as they are when they first get power). Draw the coordinate frames of each joint.
  2. On your diagram, for each link, label your four parameters θ, l, d, and α. Some of these may be functions of the joint angle ϕ.
  3. Write a program that allows the user to position the arm based on the angles of each of the joints.
  4. The program should then print out the pose of the hand, meaning both position (x, y, z) and orientation (yaw, pitch, and roll).