Answered: 0₁ (°) αi (°) a (m) d; (m) 1 01 90 0…

Engineering

Computer Science

0₁ (°) αi (°) a (m) d; (m) 1 01 90 0 0,5 2 02 -90 0,4 0 3 0 0 0 d3 456 04 90 0 0 5 05 90 0 0 6 06 0 0 0,2

COMPREHENSIVE MICROSOFT OFFICE 365 EXCE

1st Edition

ISBN:9780357392676

Author:FREUND, Steven

Publisher:FREUND, Steven

Chapter8: Working With Trendlines, Pivottables, Pivotcharts, And Slicers

Section: Chapter Questions

Problem 8EYK

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Question

A manipulator is identified by the following table of parameters and variables:
a. Obtain the transformation matrices between adjacent coordinate frames and calculate the global transformation matrix.

0₁ (°) αi (°) a (m) d; (m)
1
01
90
0
0,5
2
02
-90
0,4
0
3
0
0
0
d3
456
04
90
0
0
5
05
90
0
0
6
06
0
0
0,2

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