Urgent Task Help -!23!

QUESTION DETAILS: PART I: A. From material covered during lectures, lab exercises and examples, you are to complete the following tasks: 1) Derive the DH representation of forward kinematics for the Lynxmotion arm 2) Analyse the workspace of the centre of the wrist when each preceding joint moves through its range of motion and plot the 2D view of the workspace of the end-effector. 3) Derive the inverse kinematics for the Lynxmotion manipulator. Refer to the first power point presentation on Blackboard. 4) Demonstrate accuracy of your models and discuss your findings. Test your IK model in several Cartesian positions and demonstrate the accuracy of your model (angles corresponding to the Cartesian coordinates) using the Lynxmotion arm software. B. Complete the following programming tasks: 1) Plan/Simulate a task in MATLAB. This process should give you e.g. 5 sets of Cartesian coordinates (x,y,z, yaw,[login to view URL]) specifying the end-effector position in 3D space (for the selected task). 2) Solve the Inverse Kinematics for these 5 positions in 3D space. You should obtain 5 sets of Joint Coordinates. 3) Import these phi values into a text file (*.txt). Specify the joint positions and joint velocities based on information given in the SSC-32 servoboard manual. 4) Use Hyperterminal in Windows (only text file) or Python under Linux (text file + [login to view URL]) to send the commands (joint positions and velocities) to the SSC-32 board to replicate the Matlab planned task using the physical Lynxmotion arm. The task you choose to do is up to you. Example tasks of appropriate complexity include; pick and place of a small object, using the arm to draw a simple figure on paper, working with another student to do a collaborative task. PART II: A. From material covered during lectures, lab exercises and examples, you are to complete the following tasks: 1) Derive an Adaptive Neuro-Fuzzy Inference System (ANFIS) representation of the inverse kinematics for the Lynxmotion arm. Use MATLAB's Fuzzy Logic Toolbox, lecture material and further reading. Include all your investigations and report this. 2) Analyse and compare the performance of the ANFIS approach to the one you have previously developed in part I by replicating step 4 in section A above in the context of your chosen application problem. B. Complete the following programming tasks: 1) Enhance your MATLAB simulation developed in part I to include use of the Fuzzy Logic toolbox ANFIS tools to allow automatic learning of the inverse kinematics. 2) Test your ANFIS Inverse Kinematics tool for selected positions in 3D space to obtain Joint Coordinates. 3) As for part I, import these phi values into a text file (*.txt). Specify the joint positions and joint velocities based on information given in the SSC-32 servoboard manual. 4) Again as for part I, use Hyperterminal in Windows (only text file) or Python under Linux (text file + [login to view URL]) to send the commands (joint positions and velocities) to the SSC-32 board to replicate the planned task you chose, using the physical Lynxmotion arm. ================================================================================= I want this task to be done in 3 days ( 1 December ) Price : 40