Consider the RR two-link planar manipulator shown below. 4x2 Y2 Yo a1 Y1 (12 21 To
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a) Derive the Jacobian to relate the joint velocities to the tool-point velocities.
b) Calculate the tool point linear velocity if joint 1 is rotating at 1.5 rad/s and joint 2
is rotating at 2 rad/s (a1 = 1.5, a2 = 3.5 θ1= 155 degrees, θ2 = -120 degrees).
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- I need detailed neat and clean handwritten solution step wise, plagiarism free. Kindly remember this for an upvote..Consider two robot-manipulators:• A SCARA robot with joints displacement range q1,2 = −90◦...90◦ and q3 = 0..10cm and links lengths L1,2=10 cm.• A Cartesian robot with joint displacements’ range q1,2,3 = 0..10 cm.Which statement is correct?1) The Cartesian robot has a larger workspace.2) It is not possible to judge the workspace based on the information provided.3) Both robots have revolute joints.4) The SCARA robot has a larger workspace.What is the step response of the dynamic system pictured below?
- Realize the direct kinematics model Of the implemented wlkata robot the Denavit-Hartenberg model. Hartenberg model.Consider the following mathematical model of a single-link flexible joint robotic manipulator (shown in the following figure) where the output of the system is y(t) = q₁(t), and I, m, g,l,k and are constants. lä(t) + MgLsin(q1(t)) + k(q1(t) - 92(t)) = 0 Jäz(t)-k(q1(t)-92(t)) = u(t) a) Linearize the nonlinear dynamics at the working point q₁ = q₁ = 92 = 92 = 0. b) For parameters I = 2,J = 1, k = 1, g = 10, M = 0.1, L = 1, find the transfer function from input u to the output y. 92 91 M, IPLEASE SOLVE ALL THE QUESTION WITH KEYBORD AND GIVE ME FULL ANSWER WITH JUST KEYBOARD NOT HAND WRITTING , THANK YOU