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=90⁰ a1= 100 mm, a2= 100mm and a3 = 50mm Note: find the position and orientation using step by step procedure Figure 3 3-DOF (Industrial manipulator arm) Joint 1 2 3 Present the roll, pitch, yaw and displacement in x, y and z axis. i-¹T₁= 0 d a 0₁ 0 a1 02 0 a2 03 0 a3 use the composite transformation matrix [CÔ se; 0 0 –SÔ CƠ, S0,SƠ, -se,ca, Co,Ca; sα; 0 α -90 0 0 a;C0 ] -CO;Sα; a,S0₂ Cα₁ d; 0

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=90⁰ a1= 100 mm, a2= 100mm and a3 = 50mm Note: find the position and orientation using step by step procedure Figure 3 3-DOF (Industrial manipulator arm) Joint 1 2 3 Present the roll, pitch, yaw and displacement in x, y and z axis. i-¹T₁= 0 d a 0₁ 0 a1 02 0 a2 03 0 a3 use the composite transformation matrix [CÔ se; 0 0 –SÔ CƠ, S0,SƠ, -se,ca, Co,Ca; sα; 0 α -90 0 0 a;C0 ] -CO;Sα; a,S0₂ Cα₁ d; 0

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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Concept explainers

Power Transmission Elements

It is defined as the energy transfer from one location to another location. The energy will start moving from the energy generation source to the energy applied position to obtain the work output. From this method, a large amount of electric energy moves from the power station to various electrical substations.

Question

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=90⁰
a1= 100 mm, a2= 100mm and a3 = 50mm
Note: find the position and orientation using step by step procedure
Figure 3 3-DOF (Industrial manipulator arm)
Joint 0 d
1
01
0
2
02
3
03
0
0
Present the roll, pitch, yaw and displacement in x, y and z axis.
use the composite transformation matrix
[ce; -se,Cα;
se;
SÔ
i-¹T₁ =
0
0
Sα₁
0
CÔ Ca;
co,ca;
a
a1
a2
az
s0;Sα;
se
a
| -90
0
0
Cα₁
0
a;C0₁]
–CĐ Sa, : aS0;
a¡SO;
d;
1

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