Modelling the robotic manipulator Report

Assessment Task One: Modelling the robotic manipulator (20% of total module marks)
The following is to be completed by each student and submitted using the appropriate link  provided on Blackboard (i.e., each student is assessed individually).
The Arduino Tinkerbot should be modelled using Peter Corke’s robotics toolbox, obtaining the following information from the physical robot manipulator:
? Link length
? Joint angle range
? D-H parameters
Once the model has been created it should be used to:
i. Verify at least three end effector coordinates obtained analytically through the input of the joint angles into the robotics toolbox model and comparing the end effector coordinates obtained when inputting the same joint angles into the physical manipulator
(i.e., forward kinematics).
ii. Within MATLAB create the homogenous transformation matrices for the robot manipulator and, utilising the same sets of joint angles above (i), determine the corresponding end effector positions of the manipulator, and compare the results with
those obtained using the robotics toolbox (i.e., forward kinematics).
iii. In a similar manner to (ii), verify your analytical model when employing inverse kinematics (i.e., compare your calculations in MATLAB with the results from the robotics toolbox and the physical manipulator).
iv. Plot the workspace, accounting for the surface on which the robot manipulator stands.
v. Identify the limitations of this robot in terms of its workspace and joint configuration, and list potential improvements.