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displacement variable el-90°, e2-90° and e3-90°. ar-20m, a: -20m, as-20m. Note: find the position and orientation using step by step procedure Use the composite transformation matrix given in Equation 1 [c8₁ -58,Ca SO,Sa, CO se, co,Ca, -CO,sa ase ca d 0 +T₁=\ 0 sai 0 Figure 3 3-DOF (Industrial manipulator arm) Table 1 D-H table for the 3- DOF manipulator Joint 8 d Q 1 0 a1 2 3 d → Equation 1 es 0 0 03 a -90 0 0

displacement variable el-90°, e2-90° and e3-90°. ar-20m, a: -20m, as-20m. Note: find the position and orientation using step by step procedure Use the composite transformation matrix given in Equation 1 [c8₁ -58,Ca SO,Sa, CO se, co,Ca, -CO,sa ase ca d 0 +T₁=\ 0 sai 0 Figure 3 3-DOF (Industrial manipulator arm) Table 1 D-H table for the 3- DOF manipulator Joint 8 d Q 1 0 a1 2 3 d → Equation 1 es 0 0 03 a -90 0 0

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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5. Compute the orientation and position of the tool point P from the given D-H table (Table 1) for the displacement variable el-90°, 02-90° and e3-90°. a 20m, a: -20m, as-20m. Note: find the position and orientation using step by step procedure Use the composite transformation matrix given in Equation 1 [ce, -58,Co, S8,Sa, qC, se, co,ca; -CO,Sα; aS0; 0 sα; ca da 0 0 0 +¹T₁=\ Figure 3 3-DOF (Industrial manipulator arm) → Equation 1 Table 1 D-H table for the 3-DOF manipulator Joint 8 d G 1 01 0 80 2 3 03 0 03 a -90 0 0
Transcribed Image Text:5. Compute the orientation and position of the tool point P from the given D-H table (Table 1) for the displacement variable el-90°, 02-90° and e3-90°. a 20m, a: -20m, as-20m. Note: find the position and orientation using step by step procedure Use the composite transformation matrix given in Equation 1 [ce, -58,Co, S8,Sa, qC, se, co,ca; -CO,Sα; aS0; 0 sα; ca da 0 0 0 +¹T₁=\ Figure 3 3-DOF (Industrial manipulator arm) → Equation 1 Table 1 D-H table for the 3-DOF manipulator Joint 8 d G 1 01 0 80 2 3 03 0 03 a -90 0 0
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