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Compute the position and orientation of the tool point P from the given D-H table for the displacement variable e1-90° e2-90° and e3-90° a1= 100 mm, a2= 100mm and a3 = 50mm Note: find the position and orientation using step by step procedure Joint Figure 3 3-DOF (Industrial manipulator arm) A a a

Compute the position and orientation of the tool point P from the given D-H table for the displacement variable e1-90° e2-90° and e3-90° a1= 100 mm, a2= 100mm and a3 = 50mm Note: find the position and orientation using step by step procedure Joint Figure 3 3-DOF (Industrial manipulator arm) A a a

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
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Compute the position and orientation of the tool point P from the given D-H table for the displacement variable e1=900 e2=90° and e3=90⁰. a1= 100 mm, a2= 100mm and a3 = 50mm Note: find the position and orientation using step by step procedure Present the roll, pitch, yaw and displacement in x,y and z axis. use the composite transformation matrix H-¹T₁= [ce; -se,ca; SO Sα₁ se, co,Ca; -C0₁Sα; 0 Sα₁ Cα₁ 0 0 0 aC0₁] aS0₂ d₁ 1 Joint 1 2 3 Figure 3 3-DOF (Industrial manipulator arm) 0 d α 0₁ 0 a1 02 0 a2 03 | 0 a³0 a -90 0
Transcribed Image Text:Compute the position and orientation of the tool point P from the given D-H table for the displacement variable e1=900 e2=90° and e3=90⁰. a1= 100 mm, a2= 100mm and a3 = 50mm Note: find the position and orientation using step by step procedure Present the roll, pitch, yaw and displacement in x,y and z axis. use the composite transformation matrix H-¹T₁= [ce; -se,ca; SO Sα₁ se, co,Ca; -C0₁Sα; 0 Sα₁ Cα₁ 0 0 0 aC0₁] aS0₂ d₁ 1 Joint 1 2 3 Figure 3 3-DOF (Industrial manipulator arm) 0 d α 0₁ 0 a1 02 0 a2 03 | 0 a³0 a -90 0
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