90 06 N 20 X y OTOOL 03 04 05 130 T Actuator 6 140 280 - 28.5 105 06 05 105 - 28.5 Actuator 5 Actuator 4 1 Actuator 3 Actuator 2 Oz 115 30 Actuator 1 128.3 Base frame 01 KINOVA Figure 64: DH parameters frames definitions N y

90 06 N 20 X y OTOOL 03 04 05 130 T Actuator 6 140 280 - 28.5 105 06 05 105 - 28.5 Actuator 5 Actuator 4 1 Actuator 3 Actuator 2 Oz 115 30 Actuator 1 128.3 Base frame 01 KINOVA Figure 64: DH parameters frames definitions N y

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

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I have attached a picture of the lengths of the robot's links, the axes of rotation for each joint, and the offsets between consecutive joints.

Based on these coordinates:

m = meters
x = 0.399 m y = -0.12 m z = 0.047 m theta x = 11.6 theta y = -0.12 theta z = 82.5

Please calculate the DH parameter table.

90
06
N
20
X
y
OTOOL
03 04
05
130
T
Actuator 6
140
280
- 28.5
105
06 05
105
- 28.5
Actuator 5
Actuator 4 1
Actuator 3
Actuator 2
Oz
115
30
Actuator 1
128.3
Base frame
01
KINOVA
Figure 64: DH parameters frames definitions
N
y

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