BME558: Introduction to Brain-Machine Interfaces Homework 4
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BME558: Introduction to Brain-Machine Interfaces
Homework 4
As a neural engineer, you have been given the task of designing a robotic device for a brain-machine interface. Your first step is to create MATLAB/Simulink code to calculate the joint angles of a robotic arm with 2 DOF given the desired endpoint.
1) Write either a MATLAB function or Simulink model to calculate the endpoint position coordinates given the joint angles using the Forward Kinematics equations we derived in class.
2) Write either a MATLAB function or Simulink model to calculate the joint angles given the endpoint position coordinates using the Inverse Kinematics equations we discussed in class.
3) Given l1=l2=2, what are the joint angles for the following desired endpoint position coordinates? Use simple drawings to show position of the arm.
a. (x, y) = (+3, +1.5)
b. (x, y) = (-2, -3)
c. (x, y) = (+1, -2)
d. (x, y) = (- 1, +2)
4) Use the Forward Kinematics code you developed in Question 1 to check your work.
Please submit your HW in Canvas under “Assignments” or by email togmcconne@stevens.edu
2022-12-03