Robotics 2
Inverse Kinematics for Orientation
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Link to YouTube Activity Completion Video:
To complete this lab activity, do the following:
(1) Define a rotation matrix for R0_6 that is different than mine (in my Python code)
(2) Run your Python code with your R0_6 matrix to calculate Theta 4, 5, and 6
(3) Make sure that the R3_6_Check matrix matches the R3_6 matrix, in order to confirm that your Theta 4, 5, and 6 values are valid.

Make a video that includes the following in one video:

(1) You saying your name
(2) Your R0_6 matrix (different than mine) entered into your Python code
(3) Your Python output showing the values of Theta 4, 5, and 6
(4) Your Python output showing that the R3_6_Check matrix matches the R3_6 matrix
This video introduces the 'spherical wrist' - a 3-degree-of-freedom device that is often attached to the end of a standard type 3-DoF manipulator, together making a single 6-DoF manipulator.
In this video, we learn the procedure for doing inverse kinematics for manipulators with more than 3 degrees of freedom.  We do an example of a cylindrical manipulator with spherical wrist, and we solve the problem by writing code in Python.
Your ID Code:
If you don't think you can get this challenge and quiz done by the due date, type in your User ID and click 'Request Extension'.  You are allowed 5 extensions in the semester.  If you are approved for the extension, then the due date for this challenge and quiz will be extended for you for 3 days.