Project 2

In this project we will practice adding new features to a Fortran program so it can solve a more complex problem. Consider the robot arm presented in class. With the information in the link diagram, plus the values of the angles of the robot arm joints, it is possible to determine the X-Y positions of the robot arm joints.

1. Determine the equations for locating the elbow and wrist joints.

2. Copy the file rbtjnts.f into a file named prj2.f . Modify the prj2.f program as follows:
   1. The program shall ask the user for the current angles of the robotic arm 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 arm elbow, and wrist joints.

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

   4. Modify the program prj2.f so that it prints out to the screen the input it received. Make sure that when it prints, it identifies the values it is printing.
   5. Modify the program so that it reads from a file named prj2in.data. Further modify your program so that all printing is done to a file named prj2results.html.

3. Once you have saved the file prj2.f , and it works correctly, copy it as prj2trace.f.
4. Modify the program prj2trace.f so it creates a file prj2trace.html with the results of a trace in an html table.

5. Once you have saved the file prj2trace.f , and it works correctly, copy the files prj2.f , prj2results.html, prj2trace.f, and prj2trace.html, into your public_html directory.

6. Modify your cs2503.html file to place a link to the files prj2.f , prj2results.html, prj2trace.f, and prj2trace.html.

7. Handin the files prj2.f , prj2results.html, prj2trace.f, and prj2trace.html, and your modified cs2503.html using the handin command.