4 camera is attached to the hand frome Tof a robot as given. The correspornding inverse Jacobian of the robot at ihis location is also given. The robot mak'es a duferential motion, as a result of which, the change in the frame dT is recorded as given. 4. Find the new location of the camera after the differential motion. B. Find the differential operator. C. Find the joint differential motion values associated with this move. P. Find how much the differential motions of the hand-frame ("D) should have þeen instead, if measured relative to frame T, to move the robot to the same new ocation as in part A. 3 -1 0 0 0 -0.03 -0.1 0.79 1 T = 2 J- = 0 0.2 0 0 0 0.03 0.09 dT = -1 8. --1 1 -0.1 -0.4 1 0. 0 0 0 1
4 camera is attached to the hand frome Tof a robot as given. The correspornding inverse Jacobian of the robot at ihis location is also given. The robot mak'es a duferential motion, as a result of which, the change in the frame dT is recorded as given. 4. Find the new location of the camera after the differential motion. B. Find the differential operator. C. Find the joint differential motion values associated with this move. P. Find how much the differential motions of the hand-frame ("D) should have þeen instead, if measured relative to frame T, to move the robot to the same new ocation as in part A. 3 -1 0 0 0 -0.03 -0.1 0.79 1 T = 2 J- = 0 0.2 0 0 0 0.03 0.09 dT = -1 8. --1 1 -0.1 -0.4 1 0. 0 0 0 1
Advanced Engineering Mathematics
10th Edition
ISBN:9780470458365
Author:Erwin Kreyszig
Publisher:Erwin Kreyszig
Chapter2: Second-order Linear Odes
Section: Chapter Questions
Problem 1RQ
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Transcribed Image Text:camera is attached to the hand frome Tof a robot as given. The correspo1naing
inverse Jacobian of the robot at this location is also given. The robot mak'es a
qfferential motion, as a result of which, the change in the frame dT is recorıded
as given.
4. Find the new location of the camera after the differential motion.
B. Find the differential operator.
C. Find the joint differential motion values associated with this move.
p. Find how much the differential motions of the hand-frame ('D) should have
þeen instead, if measured relative to frame T, to move the robot to the same new
ļocation as in part A.
1
0.
3
-1 0
0.
-0.03
-0.1 0.79
1
0 -0.2
0.
0.03
0.09
dT =
%3D
-1
8
-1
0 1
-0.1
-0.4
1
0.
1.
0 0
0 0
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