As shown in the Figure, the robot has arevolute joint 1, a revolute joint 2, and aprismatic joint 3. Note that the joint 3 islocked at 2m, determine:1) What are frames assignments {0} through{3}.2) Draw the arms with showing the framesattachment.3) What are the matrices of transformationfor each frame?4) Overall Jacobian matrix.E3 m02ΟιL3

In robotic arm kinematics, frames are assigned to each joint and the end effector. The base of the…

Answered: As shown in the Figure, the robot has a…

Elements Of Electromagnetics

7th Edition

ISBN:9780190698614

Author:Sadiku, Matthew N. O.

Publisher:Sadiku, Matthew N. O.

ChapterMA: Math Assessment

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draw and determine the following using the D-H convention presented in class and explained in the text. link number link name joint number joint type (R or P) link coordinate origin location link x axis direction link y axis direction link z axis direction translation from proximal to distal end rotation from proximal to distal end homogeneous transformation matrix
Consider the figure as shown below. O-XoYoZo is the reference frame and O-X₁Y₁Z₁ is the frame attached to the tool. Sketch the tool position after each intermediate position of the operation of the tool about the reference frame: roll π/2(rotate about Zo), pitch -T/2(rotate about Yo), yaw π/2(rotate about Xo). Please write the final rotation matrix expression. ZI,Zo XI,Xo Yı, Yo
Use rotation about the current frame to calculate the transformation matrix for a rotation of 90° about yo axis and then 90° about zo axis.
A frame moves along its n-axis a distance of 2 units and is then rotated about the o-axis an angle 60° followed by a rotation about the z-axis by 90°. It was then translated about the a-axis by 2 units and finally rotated about the x-axis by 45°. Construct the transformation matrix equation. Compute the total transformation performed by the frame. Compute the joint variables that had to be made if similar location and orientation were to be created using cylindrical and RPY configuration. The initial point is located at P=[5 3 4]^T
6- if A=[ and B is 3x3 uit matrix -2 Pind AB)
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4. Four identical SRS arms are grasping a common object as shown below. Spherical Joint Revolute Joint Find the number of degrees of freedom of this system while the grippers hold the object rigidly (no relative motion between the object and the last links of the SRS arms). Your answer should be an integer. Enter answer here 5. Referring back to Question 4, suppose there are now a total of n such arms grasping the object. What is the number of degrees of freedom of this system? Your answer should be a mathematical expression including n. Examples of mathematical expressions including n are 4 n-7 or n/3.
Solve b and c please in the image.
Find the transformation matrix for the following transformations: 1) Rotate 45° about Xo-axis. (Xo, Yo, Zo) → (X₁, Y₁, Z₁); 2) Followed by a rotation of 90° about Xo-axis. (X₁, Y₁, Z₁)→ (X₂, Y₂, Z₂); 3) Followed by a rotation of 60° about Y₂-axis. (X₂, X2, Z2)→ (X3, Y, Z3); 4) Followed by a rotation of 60° about Z₂-axis. (X3, Y3, Z3) → (X, Y4, Z4). Note: give final answer in matrix multiplication form, no need to write out the elements of the matrices or multiply the matrices out. URALLY AND AFICIALLY LG
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Please answer number 1and 2.Please put complete solution amd box the final answer .I already separate the questions.

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