Assignment 9

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Assignment 9

• 6.15
• 6.20
• Programming Assignment - Write a simulation of
  the equations for the 2DOF manipulator example of
  Section 6.7
• Simulate 6.59 as a forward dynamics equation,
  where you apply some suitable (sinusoidal might
  be nice) torques and plot the resulting joint
  angles and end effector position, velocity, and
  accelerations
• Simulate 6.104 for this example as an inverse
  dynamics equation, where you apply a desired
  trajectory of the end effector and then plot the
  resulting joint torques (and also the various
  joint angles and end effector position, velocity,
  and accelerations)
• Comment on your results
• For these simulations, refer the simulation
  problems at the end of Chapter 6 for reference
• Assignment Due Tuesday November 11