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1. The joints of an RR open chain robot manipulator are rotation around the X axis followed by rotation around the new Y axis, from proximal to distal end. Determine the rotation matrix from the base to the end effector if actuator 1 command is 60 degrees and actuator 2 command is -45 degrees. 2. All 3 joints of an RRR open chain robot manipulator rotate about the same Z direction. Link 1 is connected to ground at the origin of the base frame. Joint rotation is measured relative to the current X axis. Link 2 is connected to link 1 a distance L₁ in the X1 direction. Link 3 is connected to link 2 a distance L₂ in the X2 direction. Derive the homogenous transform from the base to the end effector, "T3.

1. The joints of an RR open chain robot manipulator are rotation around the X axis followed by rotation around the new Y axis, from proximal to distal end. Determine the rotation matrix from the base to the end effector if actuator 1 command is 60 degrees and actuator 2 command is -45 degrees. 2. All 3 joints of an RRR open chain robot manipulator rotate about the same Z direction. Link 1 is connected to ground at the origin of the base frame. Joint rotation is measured relative to the current X axis. Link 2 is connected to link 1 a distance L₁ in the X1 direction. Link 3 is connected to link 2 a distance L₂ in the X2 direction. Derive the homogenous transform from the base to the end effector, "T3.

Precision Machining Technology (MindTap Course List)
Precision Machining Technology (MindTap Course List)
2nd Edition
ISBN:9781285444543
Author:Peter J. Hoffman, Eric S. Hopewell, Brian Janes
Publisher:Peter J. Hoffman, Eric S. Hopewell, Brian Janes
Chapter8: Computer Numerical Control
Section8.1: Cnc Basics
Problem 7RQ: What is the name for the type of motor used to drive CNC axes that is also capable of recording axis...
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1.  The joints of an RR open chain robot manipulator are rotation around the X axis followed by rotation around the new Y axis, from proximal to distal end.  Determine the rotation matrix from the base to the end effector if actuator 1 command is 60 degrees and actuator 2 command is -45 degrees.

2.  All 3 joints of an RRR open chain robot manipulator rotate about the same Z direction.  Link 1 is connected to ground at the origin of the base frame.  Joint rotation is measured relative to the current X axis.  Link 2 is connected to link 1 a distance L1 in the X1 direction.  Link 3 is connected to link 2 a distance L2 in the X2 direction.  Derive the homogenous transform from the base to the end effector, 0T3.

 

1. The joints of an RR open chain robot manipulator are rotation around the X axis followed by rotation around the new Y axis, from proximal to distal end. Determine the rotation matrix from the base to the end effector if actuator 1 command is 60 degrees and actuator 2 command is -45 degrees. 2. All 3 joints of an RRR open chain robot manipulator rotate about the same Z direction. Link 1 is connected to ground at the origin of the base frame. Joint rotation is measured relative to the current X axis. Link 2 is connected to link 1 a distance L₁ in the X1 direction. Link 3 is connected to link 2 a distance L₂ in the X2 direction. Derive the homogenous transform from the base to the end effector, "T3.
Transcribed Image Text:1. The joints of an RR open chain robot manipulator are rotation around the X axis followed by rotation around the new Y axis, from proximal to distal end. Determine the rotation matrix from the base to the end effector if actuator 1 command is 60 degrees and actuator 2 command is -45 degrees. 2. All 3 joints of an RRR open chain robot manipulator rotate about the same Z direction. Link 1 is connected to ground at the origin of the base frame. Joint rotation is measured relative to the current X axis. Link 2 is connected to link 1 a distance L₁ in the X1 direction. Link 3 is connected to link 2 a distance L₂ in the X2 direction. Derive the homogenous transform from the base to the end effector, "T3.
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