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
10th Edition
ISBN:9780470458365
Author:Erwin Kreyszig
Publisher:Erwin Kreyszig
Chapter2: Second-order Linear Odes
Section: Chapter Questions
Problem 1RQ
Related questions
Question
![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](/v2/_next/image?url=https%3A%2F%2Fcontent.bartleby.com%2Fqna-images%2Fquestion%2F77b53640-bedb-40b3-85db-9e434618362d%2F37a54989-c9c7-460a-bcc1-4cb9d11bcbce%2Fws4gpcl_processed.jpeg&w=3840&q=75)
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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