[Type here]Figure 1: Physical ConfigurationFigure 2: Configuration of the Robot with Joints =...

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[Type here]Figure 1: Physical ConfigurationFigure 2:  Configuration of the Robot with Joints = [0,0,0,0,0]. Figure 3: Configuration of robot under J1 = 0, J2 = 0, J3 = 90, J5 = 0 and J6 = 0. Deliverables:1. Produce the DH-Parameters.2. Work with your group to produce a MATLAB program that calculates the end-effector position based on any given set of joint parameters. 3. A report detailing the following:a. Introductioni. Introduce the background of the RV-2AJ robot. ii. Discuss the objective of this lab.. Methodologyi. Process of deriving the DH-parametersii. Discuss the program structurec. Result and Data Analysisi. Discuss the end-effector position and orientation with the following joint parameters:1. [-40.47, 75.25, 70.74, 34.01, -40.47]2. [40.47, 75.25, 70.74, 34.01, -40.47]3. [0,0,90,90,0]2

Himanshu · Accepted Answer

-Produce DH parameters
	 Joint
	    ai(mm) 
	     αi (rad)            
	     di(mm)
	θi(rad)
	1
	0
	-π/2 
	300
	θ1
	2
	250
	0
	0
	θ2
	3
	160
	0
	0
	θ3
	4
	0
	-π/2 
	0
	θ4
	5
	0
	0
	72
	θ5
• ai = distance from Zi to Zi+1 measured along Xi (Link length)
• αi = angle from Zi to Zi+1 measured along Xi      (Twist angle)
• di = distance from Xi-1 to Xi measured along Zi  (Joint distance)
• θi = angle from Xi-1 to Xi measured along Zi       (Joint angle)
Since all joints  are rotational, the only non-constant parameter is the Joint angle θi .
A: Introduction
i)  Introduce the background of the RV-2AJ robot.
As a lightweight, compact and powerful joint-arm robot of its class, RV-2AJ offers best performance. The robot uses motor drive AC servomotors that achieve a maximum speed of 2100 mm / s with ±0.02 mm repetitiveness. The high-accuracy motors with built in absolute place encoders ensure stable operation without maintenance.
The robot can be served with a maximum payload of 2 kg and is therefore especially suitable for small payload handling, positioning and separation. Apart from this, quality management and handling samples in medical and other laboratories are also prominent applications. The robot is also suitable for applications where a small , lightweight robot needs to be mounted next to or even in the device it operates, as it can cover horizontal motion up to 410 mm (through the gripper pointing downward. The mechanical structure is known as an anthropomorphic joint (human-like) taking into account the method of designing a five-joint arm robot of the RV-2AJ. Each joint has a single rotational freedom around its own axis.                                                Rotation range of RV-2AJ.

[Type here] Figure 1: Physical Configuration Figure 2: Configuration of the Robot with Joints = [0,0,0,0,0]. Figure 3: Configuration of robot under J1 = 0, J2 = 0, J3 = 90, J5 = 0 and J6 = 0....

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