A manipulator’s end-effector position is calculated as follows: x = q0 cos q1 + l2 cos(q1 + q2), y = q0 sin q1 + l2 sin(q1 + q2), where q0,1,2 represent joint displacements and l2 is a constant positive parameter. Which of the following describes this manipulator: 1) This is a robot-manipulator with 3 revolute joints. 2) This is a robot-manipulator with 2 revolute and 1 prismatic joints. 3) This is a robot-manipulator with 1 prismatic and 3 revolute joints. 4) This is a robot-manipulator with 2 revolute joints.
A manipulator’s end-effector position is calculated as follows:
x = q0 cos q1 + l2 cos(q1 + q2),
y = q0 sin q1 + l2 sin(q1 + q2),
where q0,1,2 represent joint displacements and l2 is a constant positive parameter.
Which of the following describes this manipulator:
1) This is a robot-manipulator with 3 revolute joints.
2) This is a robot-manipulator with 2 revolute and 1 prismatic joints.
3) This is a robot-manipulator with 1 prismatic and 3 revolute joints.
4) This is a robot-manipulator with 2 revolute joints.
A robot’s end-effector’s tool position is defined as
x = L1 cos(q1) + q3 sin(q1 + q2)
where L1 = const, q1 = q1(t), q2 = q2(t) and q3 = q3(t) with t defining time.
Calculate ∂x / ∂q3
1) it is impossible to calculate as the equation for the y and z positions are missing.
2) cos(q1 + q2).
3) it is impossible to calculate as time is not given.
4) sin(q1 + q2).
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