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Homework

In this chapter, we've been using the program rbtjnts.f to solve a problem involving the robotic arm problem. With the information in the link diagram, plus the values of the angles of the robotic elbow joint, it is possible to determine the X-Y positions of the robotic wrist and wrist joints.

The kinematic for locating the wrist and wrist joints can also be determined. These are left as an exercise. Assume that the elbow joint angles are measured in degrees clockwise from the arm link to the forearm link.

You are asked to modify the rbtjnts.f program as follows:

  1. The program shall ask the user for the current angles of the robotic shoulder, and elbow joints. The angles shall be input in degrees. The angles shall be input as real numbers.

  2. The program shall use the input angles and the values shown in the link diagram to compute the positions of the robotic elbow, and wrist joints.

  3. The program shall print out the X and Y coordinates of the robotic elbow, and wrist joints.

Compile, run, and test the new program.

Remember to put appropriate comments in your programs! At the top of your new program insert a comment that includes your name, your login name, and other information that identifies you as the author.


next up previous
Next: Laboratory 3 Up: Modeling a Robotic Previous: Computational Science and


J. C. Diaz