Using the MACS Linux facility in Room EM2.50, edit the supplied Java3D program to control the
TCP of the robot as detailed below
Step 1: Make sure you have registered for use of the MACS computing facilities using a
form obtainable from EM 1.33. Read the Conditions of Use on the back of the form –
your signature on the front confirms that you undertake to abide by these conditions.
Fill in every box on the front of the form – most of it has been pre-completed for you
Step 2: Make sure you know how to edit, compile and run the Java3D program supplied.
Also make sure you know how to extract code segments from the program and print
them off. Contact me if you have any problems.
Step 3: Develop an algorithm to determine the necessary joint angles to achieve the TCP
position and orientation entered by the user. Code up your algorithm in Java and
insert it into the Java3D program supplied.
Step 4: This manipulator contains degeneracies. Develop a scheme for handling degenerate
points so that only one joint angle solution exists for any TCP position and
orientation (E.g. keeping the shoulder tilted up at all times). Code up your scheme in
Java and insert it into the Java3D program supplied.