Solution manual for introduction to robotics 4th edition by craig

Solution Manual for Introduction to Robotics 4th Edition by Craig
Full file at />
Chapter 1 Solutions for Introduction to Robotics

1. do t he f o l l o w i n g s e v e n t i m e s {
playerCounter = 1
do t h e f o l l o w i n g f o u r t i m e s {
open g r i p p e r
move t o P_deck
close gripper
move t o P_playerCounter
playerCounter = playerCounter + 1

}

// end f o u r −t i m e s l o o p

b)
s ing ion We
w
la ach at de
ht te min Wi
rig in se ld .
py rs is or ted
co cto . D W mit
es ru ng he er
at st ni t p
St in ar on ot
d of t le ng is n
i
te e

ni s en d d
U e u tud clu an
by r th g s (in ork
k
d
te fo sin or w
ec ly s w he
ot ole se is f t
pr d s as f th y o
d o it
is
k ide an art egr
or v
w ro es y p int
is is p urs an e
Th d co of y th
an eir le tro
th sa es
or ill d
w

}

// end seven−t i m e s l o o p

2. Mechanical manipulators: welding robots on automotive assembly lines, wafer-handling
robots in semiconductor manufacturing, parallel-platform robots for flight simulators
Fixed automation machines: container filling at bottling plant; automatic car wash; printing,
cutting, and folding of newspapers
3. A rigid body in space has six degrees of freedom. It’s free to translate in three directions and

to independently rotate about each of those three axes.
4.

   
 
2.5
2
3
 
   
A
P3 = sin(π/6) 1 + cos(π/3) 6 = 3.5
7.0
5
9
5. Below are some possible considerations when using motors at joints
Pros:
• Simple design
• Low maintenance requirement
Cons:
• More moving mass → larger motors required
• Greater inertia effects

© 2018 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently

exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Full file at
/>