Consider that we have a 3-R robot as shown in the figure below. The lengths of the links are: 11-12-13=2. The position and posture of the tool's center point is Pt (x, y, a), the driving variables are 01, 02, 03, and the output variables are v,v,, w.. (It is in the initial position)
Consider that we have a 3-R robot as shown in the figure below. The lengths of the links are: 11-12-13=2. The position and posture of the tool's center point is Pt (x, y, a), the driving variables are 01, 02, 03, and the output variables are v,v,, w.. (It is in the initial position)
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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
Transcribed Image Text:Consider that we have a 3-R robot as shown in the figure below. The lengths of the links
are: 11-12-13=2. The position and posture of the tool's center point is Pt (x₁, y₁, α), the
driving variables are 01, 02, 03, and the output variables are v,v,, w.. (It is in the
initial position)
yo
1₁
Y₁
0₁
Y₂
12
02
X1
-X2
V3
13
P₁
X3
a
Xo
![3.1 The base coordinate of robot is xo-yo-zo, the tool coordinate is x-y-z. Based on the
coordinate systems shown on the figure. Please complete the D-H table of this robot.
i-¹A
link
1
2
3
=
ai
[cos(0₁)
sin (₁)
0
0
di
3.2 Please get both analytical and numerical solutions for the forward kinematics
equation of the robot, where 0₁ 0₂ 03 = 30°
di
-cos (α;) sin(0₁)
cos(a) cos(0₁)
sin(ai)
0
0₁
sin(a;) sin(0₁)
-sin(a)cos (0₁)
cos(α₁)
0
aicos (0₁)]
a¡sin (0₁)
di
1](/v2/_next/image?url=https%3A%2F%2Fcontent.bartleby.com%2Fqna-images%2Fquestion%2F87351664-192b-44e9-8681-fefec31a9dea%2F8a4190f3-1404-4b8b-a2da-eda9844a5829%2Fnpwyypx_processed.png&w=3840&q=75)
Transcribed Image Text:3.1 The base coordinate of robot is xo-yo-zo, the tool coordinate is x-y-z. Based on the
coordinate systems shown on the figure. Please complete the D-H table of this robot.
i-¹A
link
1
2
3
=
ai
[cos(0₁)
sin (₁)
0
0
di
3.2 Please get both analytical and numerical solutions for the forward kinematics
equation of the robot, where 0₁ 0₂ 03 = 30°
di
-cos (α;) sin(0₁)
cos(a) cos(0₁)
sin(ai)
0
0₁
sin(a;) sin(0₁)
-sin(a)cos (0₁)
cos(α₁)
0
aicos (0₁)]
a¡sin (0₁)
di
1
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