Elbow and Wrist of a Robot Project

In this article we will practice adding new features to a C++ program so it can solve a more complex problem. Consider the robot arm. With the information in the link diagram, plus the values of the angles of the robot arm joints, it is possible to determine the X-Y positions of the robot arm joints.

1. Determine the equations for locating the elbow and wrist joints.
2. Copy the file rbtjnts.cpp into the file robotEW.cpp and save it in your directory cs2503Programs.
3. Change directory into your cs2503Programs directory.
4. Modify the robotEW.cpp program as follows:
• The program shall ask the user for the current angles of the robotic arm shoulder, and elbow joints. The angles shall be input in degrees. The angles shall be input as real numbers.
• The program shall use the input angles and the values shown in the link diagram to compute the positions of the robotic arm elbow, and wrist joints.
• The program shall print out the X and Y co ordinates of the robotic arm elbow, and wrist joints.
5. Modify the program robotEW.cpp so that it prints out to the screen the input it received. Make sure that when it prints, it identifies the values it is printing.
6. Modify the program so that it reads from a file named robotEWin.txt. Further modify your program so that all printing is done to a file named robotEWresults.txt.
7. Once you have saved the file robotEW.cpp , and it works correctly, hand in the files robotEW.cpp, robotEWin.txt, and robotEWresults.html.
8. Copy the files robotEWin.txt, and robotEWresults.txt into your public html/cs2503Reports directory.
9. Change directory to your public html/cs2503Reports directory.
10. Write a file robotArmEqs.html that describes the equations required for computing the elbow and wrist joints. Provide a description of each parameter, and identify which are known and which are determined.
11. Create the report file robotEWreport.html which explains the project and includes relative links to robotArmEqs.html, robotEWin.txt, and robotEWresults.txt.
12. Modify your cs2503.html file to place a link to the report file.
13. Hand in the report file robotEWreport.html and your mo dified cs2503.html.
14. Clean up your home directory and any of your public areas to make sure that no files containing your program or portion thereof are accessible by any user.