5-13. Consider the five-axis spherical-coordinate robot with tool pitch and tool roll motion shown in Fig. 5-13. Here the vector of joint variables is q = tool-configuration function for this robot is: [01, 62, d3, 04, 0s]. The w(q) C₁(S29 S₁(S293 - S24ds) S24ds) d+C293 C24ds -[exp (qs/)]C, S24 -[exp (qs/T)]S, S24 -[exp (qs/π)]C24 Find the tool-configuration Jacobian matrix V(q) of this robot. d₁ Shoulder Tool Radial extension 04 pitch x3 z3 y' уз yo to Tool Tool roll 05 de P x5 48 Base Figure 5-13 Link coordinates of a five-axis spherical robot.

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