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d2 Y1 01 20 Yo Figure 2: Robot arm ne modified D-H matrix is given as: - sino, da-1) cose, = sine,cosa-1) sin0,sina.-1) cos0,sina.-1) cos0,cosa4-1) - sina a-1) -sina,-d, (I-), - cosda-1) cosag-1d, 1

d2 Y1 01 20 Yo Figure 2: Robot arm ne modified D-H matrix is given as: - sino, da-1) cose, = sine,cosa-1) sin0,sina.-1) cos0,sina.-1) cos0,cosa4-1) - sina a-1) -sina,-d, (I-), - cosda-1) cosag-1d, 1

Advanced Engineering Mathematics
Advanced Engineering Mathematics
10th Edition
ISBN:9780470458365
Author:Erwin Kreyszig
Publisher:Erwin Kreyszig
Chapter2: Second-order Linear Odes
Section: Chapter Questions
Problem 1RQ
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6. Given a robot arm as shown in the figure 2 below, Using the modified Denavit- Hartenberg convention, derive the final position of the robot arm. You must show the D-H matrix for each joint and don't need to solve the matrix. dz O2 2 O3 73 Y2 Y3 21 d2 O1 Y1 20 Yo Figure 2: Robot arm The modified D-H matrix is given as: - sine, da-1) cose, sine,cosa.-1) cos0,cosa-) -sina-1) -sina-1d, sino,sina.-1) cos0,sina-1) cosa4-1) cosa,-1d, 1
Transcribed Image Text:6. Given a robot arm as shown in the figure 2 below, Using the modified Denavit- Hartenberg convention, derive the final position of the robot arm. You must show the D-H matrix for each joint and don't need to solve the matrix. dz O2 2 O3 73 Y2 Y3 21 d2 O1 Y1 20 Yo Figure 2: Robot arm The modified D-H matrix is given as: - sine, da-1) cose, sine,cosa.-1) cos0,cosa-) -sina-1) -sina-1d, sino,sina.-1) cos0,sina-1) cosa4-1) cosa,-1d, 1
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