代写EEEE3024: Robotics, Dynamics and Control 2024 - 2025 Coursework 1代写数据结构程序

EEEE3024: Robotics, Dynamics and Control 2024 - 2025

Course assignment: Exploration based on the forward kinematics and inverse kinematics of the ABB IRB 660 robotic arm

Overview

This course work constitutes 25% of the total module content. After completing the following tasks, you will be required to submit a brief report summarizing the work you have done to complete these tasks. This report should be between 6 and 10 pages.

Objective:

1. Understand the kinematic chain of the ABB IRB 660 robotic arm.

2. Describe the forward kinematics algorithm.

3. Propose an inverse kinematics solution.

Task:

1. Download the technical documentation PDF ("IRB 660 Product Specifications") from the following link, and familiarize yourself with the components of the robot and the different degrees of freedom:

https://new.abb.com/products/robotics/robots/articulated-robots/irb-660

2. Description and Specification of the Robot:

o Define the type of the robot.

o Outline the payload capacity, operational workspace, reach range, precision, and degrees of freedom of the robot.

o Specify the types of actuators used and their advantages and disadvantages.

o Describe the possible end-effector options.

o Does the end-effector increase the degrees of freedom? Provide an explanation for your answer. (10 points)

3. Discuss specific industrial application scenarios where such robots could be utilized. Also, discuss the drawbacks of this type of robot and the methods to overcome these drawbacks. You must include references. (5 points)

4. The D-H parameters of the forward kinematics of the irb660 arm were derived, and the D-H matrix was provided. (30 marks)

a. For a given set of joint parameters, calculate the position of the end effector installation point P(xyz). (You determine a set of suitable joint parameters) (5 points)

5. Derive a set of possible inverse kinematics equations. (30 marks)

a. Solve the set of equations representing the result of point P(xyz) calculated in Task 4, and display the solution to be consistent with the joint variables selected in Task 4. (20 points)

Note: You can use any method to solve the inverse kinematics equation set.