Hi,

I'm a mechanical engineering student taking a robotics class. I need help with the following.

Objective:

1. For a two-arm manipulator, use complex-number method to derive the displacement, velocity and acceleration equations for the tracing point P.

2. For a two-arm manipulator, use complex-number method to derive the displacement, velocity and acceleration equations for the center of gravity for each arm assuming it is located halfway between the joints.

3. Construction graphical solutions for 3 positions.

Solution:

So far I've done the complex method part. But I'm not sure how to graph solutions using velocity and acceleration. A classmate of mine has already done this using matlab. I'm not familiar with matlab and I'm currently using excel to plot.

The lengths of a and b =1