Homework Help is Here – Start Your Trial Now!
Engineering
Mechanical Engineering
approach

approach

Elements Of Electromagnetics
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
See similar textbooks
icon
Related questions
Question

For the 3-DOF Industrial manipulator arm as shown in Figure 1,  determine the joint displacements using inverse kinematics approach for known position and orientation of the end of the arm point.

 

The link transformation matrices are given by 

C0 -S Si 0 -C C, -S2 0 aąC2 S2 C -S 0 azC3 C3 C3 1 0 1 di 0 0 1 CCC3 - CS2S -C\C2S3 - CS2S3 CC2a3 + Ciaz S,CC3- S, S2S -S,C,S3- S SC3 -C SC243 + Sa2 Szaz + di °T3 = T, 'T, T, = S,C3 +C2S3 -S2S3 + C,C3
Transcribed Image Text:C0 -S Si 0 -C C, -S2 0 aąC2 S2 C -S 0 azC3 C3 C3 1 0 1 di 0 0 1 CCC3 - CS2S -C\C2S3 - CS2S3 CC2a3 + Ciaz S,CC3- S, S2S -S,C,S3- S SC3 -C SC243 + Sa2 Szaz + di °T3 = T, 'T, T, = S,C3 +C2S3 -S2S3 + C,C3
0, a3 0, a2 az 0,
Transcribed Image Text:0, a3 0, a2 az 0,
Expert Solution
steps

Step by step

Solved in 4 steps with 4 images

SEE SOLUTIONCheck out a sample Q&A here
Blurred answer
Knowledge Booster
Slope and Deflection
Learn more about
Need a deep-dive on the concept behind this application? Look no further. Learn more about this topic, mechanical-engineering and related others by exploring similar questions and additional content below.
Similar questions
  • SEE MORE QUESTIONS
Recommended textbooks for you
Elements Of Electromagnetics
Elements Of Electromagnetics
Mechanical Engineering
ISBN:
9780190698614
Author:
Sadiku, Matthew N. O.
Publisher:
Oxford University Press
Mechanics of Materials (10th Edition)
Mechanics of Materials (10th Edition)
Mechanical Engineering
ISBN:
9780134319650
Author:
Russell C. Hibbeler
Publisher:
PEARSON
Thermodynamics: An Engineering Approach
Thermodynamics: An Engineering Approach
Mechanical Engineering
ISBN:
9781259822674
Author:
Yunus A. Cengel Dr., Michael A. Boles
Publisher:
McGraw-Hill Education
Control Systems Engineering
Control Systems Engineering
Mechanical Engineering
ISBN:
9781118170519
Author:
Norman S. Nise
Publisher:
WILEY
Mechanics of Materials (MindTap Course List)
Mechanics of Materials (MindTap Course List)
Mechanical Engineering
ISBN:
9781337093347
Author:
Barry J. Goodno, James M. Gere
Publisher:
Cengage Learning
Engineering Mechanics: Statics
Engineering Mechanics: Statics
Mechanical Engineering
ISBN:
9781118807330
Author:
James L. Meriam, L. G. Kraige, J. N. Bolton
Publisher:
WILEY
SEE MORE TEXTBOOKS