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### Author Topic: 2 arm manipulator position, velocity and acceleration... please help!  (Read 1257 times)

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#### anonymous4l

• Beginner
• Posts: 2
##### 2 arm manipulator position, velocity and acceleration... please help!
« on: June 04, 2012, 02:01:59 PM »
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
« Last Edit: June 04, 2012, 06:31:31 PM by anonymous4l »

#### anonymous4l

• Beginner
• Posts: 2
##### Re: 2 arm manipulator position, velocity and acceleration... please help!
« Reply #1 on: June 04, 2012, 06:28:15 PM »
below is a picture of the example...

#### jkerns

• Robot Overlord
• Posts: 270
##### Re: 2 arm manipulator position, velocity and acceleration... please help!
« Reply #2 on: June 05, 2012, 07:21:52 AM »
I'm not sure what the question is.

You have developed the equations for the displacement, etc. Correct?

You want to know how to get from the equation to a graph in Matlab?
I get paid to play with robots - can't beat that with a stick.

http://www.ltu.edu/engineering/mechanical/bachelor-science-robotics-engineering.asp

• Supreme Robot
• Posts: 11,673
##### Re: 2 arm manipulator position, velocity and acceleration... please help!
« Reply #3 on: June 05, 2012, 08:39:39 AM »
You need to determine the Jacobian.

this may help:
http://www2.inf.fh-brs.de/~jthoma2s/FE2Report/node40.html

I haven't done it in 8 years so don't really remember much of it