2 Task Task 1 (40%): Get the Jacobian of the three-link manipulator below. As shown all three joints are revolute. Joint 1's axis is not parallel to the other two. Instea twist of 90 degrees in magnitude between axes 1 and 2. Write in terms of a frame at the tip of the hand and having the same orientation as frame {3}. Derive the Jac different ways: velocity propagation from base to tip, static force propagation from and by direct differentiation of the kinematic equations. Compare these three app discuss their pros and cons. 02

2 Task Task 1 (40%): Get the Jacobian of the three-link manipulator below. As shown all three joints are revolute. Joint 1's axis is not parallel to the other two. Instea twist of 90 degrees in magnitude between axes 1 and 2. Write in terms of a frame at the tip of the hand and having the same orientation as frame {3}. Derive the Jac different ways: velocity propagation from base to tip, static force propagation from and by direct differentiation of the kinematic equations. Compare these three app discuss their pros and cons. 02

Elements Of Electromagnetics

7th Edition

ISBN:9780190698614

Author:Sadiku, Matthew N. O.

Publisher:Sadiku, Matthew N. O.

ChapterMA: Math Assessment

Section: Chapter Questions

Problem 1.1MA

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Question

2 Task
Task 1 (40%): Get the Jacobian of the three-link manipulator below. As shown in the figure,
all three joints are revolute. Joint 1’s axis is not parallel to the other two. Instead, there is a
twist of 90 degrees in magnitude between axes 1 and 2. Write in terms of a frame {4} located
at the tip of the hand and having the same orientation as frame {3}. Derive the Jacobian in three
different ways: velocity propagation from base to tip, static force propagation from tip to base,
and by direct differentiation of the kinematic equations. Compare these three approaches and
discuss their pros and cons.
83
62
L1
Fig. 1. A 3R nonplanar arm

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