1. The desired orientation of the hand of a Cartesian -Euler robot is given below. Find the necessary Euler angles 0.579 -0.548 -0.604 5 a, P, P, n. 0, 0.540 0.813 -0.220 7 п, о, ny *TH n %3D 0, a P. 0.611 -0.199 0.766 3 , 0 0 1 0 0 1

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Free Body Diagram

The system of forces acting on a body tends to either rotate it or make the body undergo motion. In general, when an external agent exerts a force on a body, the body undergoes translational motion and rotational motion. The body has six degrees of freedom under the influence of that force. Here, three degrees of freedom are from the translational motion while the other three are from the rotation motion. However, sometimes the bodies are not allowed to undergo any motion and are fixed, under such conditions the body is said to be constrained.