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Consider the manipulator provided in the figure. Given the Position vector P w.r.t. to the base frame, derive the Analytical Jacobian for the position. Write your answer as J = [dpx/dq1 dpx/dq2 dpx/dq3; dpy/dq1 dpy/dq2 dpy/dq3; dpz/dq1 dpz/dq2 dpz/dq3]

Consider the manipulator provided in the figure. Given the Position vector P w.r.t. to the base frame, derive the Analytical Jacobian for the position. Write your answer as J = [dpx/dq1 dpx/dq2 dpx/dq3; dpy/dq1 dpy/dq2 dpy/dq3; dpz/dq1 dpz/dq2 dpz/dq3]

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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Consider the manipulator provided in the figure. Given the Position vector P w.r.t. to the base frame, derive the Analytical Jacobian for the position. Write your answer as J = [dpx/dq1 dpx/dq2 dpx/dq3; dpy/dq1 dpy/dq2 dpy/dq3; dpz/dq1 dpz/dq2 dpz/dq3] %3D Z3, Z4 Z1, Y, b,s, +b;C;82 -b,c +b3S152 -b;C2 X4 YA #3 b2 b3 O2, 02 P = #2 Z, Y3 #0
Transcribed Image Text:Consider the manipulator provided in the figure. Given the Position vector P w.r.t. to the base frame, derive the Analytical Jacobian for the position. Write your answer as J = [dpx/dq1 dpx/dq2 dpx/dq3; dpy/dq1 dpy/dq2 dpy/dq3; dpz/dq1 dpz/dq2 dpz/dq3] %3D Z3, Z4 Z1, Y, b,s, +b;C;82 -b,c +b3S152 -b;C2 X4 YA #3 b2 b3 O2, 02 P = #2 Z, Y3 #0
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