Consider the 3R anthropomorphic robot manipulator with a trunk/shoulder offset s

Question

Consider the 3R anthropomorphic robot manipulator with a trunk/shoulder offset shown in Fig. 1. The DH parameters are given in Tab. 1, where a1, a2, a3, and d1 are all strictly positive.

We are interested only in the position p of point P, i.e., the origin of frame 3 attached to the robot end-e_ector. The direct kinematics is computed as

and kinematic parameters,

d1 = 200cm; a1 = 30cm; a2 = 100cm; a3 = 80cm;

Using C# programming language,

Draw 3D workspace of robotic system, (every possible point in space that point P can go) [3D plot plot will contain dots representing the collection of all points of workspace of the robotic system given]

Explanation / Answer

// Access to standard .NET System
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;

// Access to the public Robocode API
using Robocode;

// The namespace with your initials, in this case FNL is the initials
namespace FNL
{
// The name of your robot is MyRobot, and the robot type is Robot
class MyRobot : Robot
{
// The main method of your robot containing robot logics
public override void Run()
{
// -- Initialization of the robot --

// Here we turn the robot to point upwards, and move the gun 90 degrees
TurnLeft(Heading - 90);
TurnGunRight(90);

// Infinite loop making sure this robot runs till the end of the battle round
while (true)
{
// -- Commands that are repeated forever --

// Move our robot 5000 pixels ahead
Ahead(5000);

// Turn the robot 90 degrees
TurnRight(90);

// Our robot will move along the borders of the battle field
// by repeating the above two statements.
}
}

// Robot event handler, when the robot sees another robot
public override void OnScannedRobot(ScannedRobotEvent e)
{
// We fire the gun with bullet power = 1
Fire(1);
}
}
}

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