5-1. Consider the four-axis cylindrical-coordinate robot with tool roll motion shown in Fig. 5-12. Here the vector of joint variables is q = [01, d2, d3, 04]. The tool-configuration function for this robot is: w(q)- C193 S193 92-da 图 0 0 exp (94/π) Find the tool-configuration Jacobian matrix V(q) of this robot. zº Base Radial extension Vertical extension Tool roll 81 da Tool Figure 5-12 Link coordinates of a four-axis cylindrical robot.
5-1. Consider the four-axis cylindrical-coordinate robot with tool roll motion shown in Fig. 5-12. Here the vector of joint variables is q = [01, d2, d3, 04]. The tool-configuration function for this robot is: w(q)- C193 S193 92-da 图 0 0 exp (94/π) Find the tool-configuration Jacobian matrix V(q) of this robot. zº Base Radial extension Vertical extension Tool roll 81 da Tool Figure 5-12 Link coordinates of a four-axis cylindrical robot.
Related questions
Question
![5-1. Consider the four-axis cylindrical-coordinate robot with tool roll motion shown in Fig.
5-12. Here the vector of joint variables is q = [01, d2, d3, 04]. The tool-configuration
function for this robot is:
w(q)-
C193
S193
92-da
图
0
0
exp (94/π)
Find the tool-configuration Jacobian matrix V(q) of this robot.
zº
Base
Radial
extension
Vertical
extension
Tool
roll
81
da
Tool
Figure 5-12 Link coordinates of a
four-axis cylindrical robot.](/v2/_next/image?url=https%3A%2F%2Fcontent.bartleby.com%2Fqna-images%2Fquestion%2F2355d73a-d719-4a60-8906-40f664d98a16%2F7658f0df-679c-46b6-b7db-528945446130%2F0a2ds2_processed.jpeg&w=3840&q=75)
Transcribed Image Text:5-1. Consider the four-axis cylindrical-coordinate robot with tool roll motion shown in Fig.
5-12. Here the vector of joint variables is q = [01, d2, d3, 04]. The tool-configuration
function for this robot is:
w(q)-
C193
S193
92-da
图
0
0
exp (94/π)
Find the tool-configuration Jacobian matrix V(q) of this robot.
zº
Base
Radial
extension
Vertical
extension
Tool
roll
81
da
Tool
Figure 5-12 Link coordinates of a
four-axis cylindrical robot.
Expert Solution
This question has been solved!
Explore an expertly crafted, step-by-step solution for a thorough understanding of key concepts.
Step by step
Solved in 2 steps
