1. Basilio Bona DAUIN – Politecnico di Torino
ROBOTICS 01PEEQW
Basilio Bona
DAUIN – Politecnico di Torino

2. Planar 2 DOF manipulator Dynamics

3. Planar two-arm manipulator
07/08/2018
This simple manipulator
cannot provide 3 DOF,
since it has only two joints
This is the TCP orientation assumed as the third Euler angle
We will compute below
the kinematics functions of the reduced DOFs
Basilio Bona - DAUIN - PoliTo
ROBOTICS 01PEEQW /2016
di 23

4. Planar two-arm manipulator – Kinematics
Direct position KF, assuming
Direct velocity KF
Basilio Bona - DAUIN - PoliTo
ROBOTICS 01PEEQW /2016

5. Planar two-arm manipulator – Kinematics
Analytical Jacobian
Geometric Jacobian, assuming
Basilio Bona - DAUIN - PoliTo
ROBOTICS 01PEEQW /2016

6. Planar two-arm manipulator – Dynamics
Basilio Bona - DAUIN - PoliTo
ROBOTICS 01PEEQW /2016

7. Planar two-arm manipulator – Dynamics
Basilio Bona - DAUIN - PoliTo
ROBOTICS 01PEEQW /2016

8. Planar two-arm manipulator – Dynamics
Basilio Bona - DAUIN - PoliTo
ROBOTICS 01PEEQW /2016

9. Planar two-arm manipulator – Dynamics
Basilio Bona - DAUIN - PoliTo
ROBOTICS 01PEEQW /2016

10. Planar two-arm manipulator – Dynamics
Basilio Bona - DAUIN - PoliTo
ROBOTICS 01PEEQW /2016

11. Planar two-arm manipulator – Dynamics
Basilio Bona - DAUIN - PoliTo
ROBOTICS 01PEEQW /2016