Problem Formulation:
Simple two-link planar robot manipulator is installed on the ROV according to Figure. Lengths of arms are d1 and d2, and corresponding angles are 1 and 2. The manipulator’s plane is rotated for angle around vertical axis. The ROV is represented as a rectangular prism with sides a, b and c. The origin of the body-fixed frame {B} is at the centre of prism. Assume that Euler angles R (Roll), P (Pitch) and Y (Yaw), which define orientation of body-fixed frame {B} relative to Earth-fixed frame {E}, are known. Also, assume that coordinates of O1 relative to O0 are [xROV, yROV, zROV].
Homogenous coordinates of point P are given relative to frame O4:
Task 1: Find homogenous transformation to express position of point P relative to frame O0:
Task 2: Write matrices T34, T23, T12, T01 inside the MATLAB script Two_Link_Robot_Uncomplete.m
Save new script under the name Two_Link_Robot.m and run for various inputs.