2 DOF RP Robot Inverse Kinematics Assignment

Write a program that outputs a motion data file in order to make a simulated RP robot follow a given path.  You can download the homework assignment below and also the RoboWorks simulation of a RP robot.  An example data file to animate the robot in RoboWorks is also available (Note: this file does not complete the entire path). 

If you are an instructor and would like to obtain an example of code used to create the Data File please contact Dr. Chetan Kapoor at Chetan@mail.utexas.edu.

Instructions:

1. RoboWorks must be installed on your computer if not go to Software for instructions.
2. Click on RP Robot Simulation and download the RoboWorks file to your computer.  Please do not open the file from the web, but rather save it on your computer and then open it in RoboWorks.
3. Similarly, download the Data File associated with this model.  Again, do not open the file from the web, but rather save it on your computer.
4. Start RoboWorks.  Click on File in the top left of the window.  Then click on Open and select the RP Robot simulation file you downloaded to your computer.
5. Click on Animate, then From File.  Select the data file you just downloaded.  A control panel will pop up.  Click on play to watch the motion the robot.
6. To rotate, pan or zoom the view of the 3D model hold down the right mouse button on the RoboWorks window and select 'Interactive Mode->Rotation, Translation, or Zooming' and then move the cursor.
7. Open the Assignment to get instructions and dimensions for the problem.
8. It is suggested that you use Matlab to create the data file but any application can be used to create the data file to run the simulation.
9. Once this data file has been created click on Animate, then From File.  Select the new data file you wish to run the simulation with.