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Evaluate the 3-DOF wrist as shown in Figure 2, use the conventional method to determine a. the linear velocity and b. angular velocity

Evaluate the 3-DOF wrist as shown in Figure 2, use the conventional method to determine a. the linear velocity and b. angular velocity

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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Evaluate the 3-DOF wrist as shown in Figure 2, use the conventional method to determine

a. the linear velocity and b. angular velocity 

The known position and orientation of the end of the arm point is. [G 0 S, 07 S, 0 -G 0 °T = 0 1 0 0 0 1 [-S2 0 C2 01 0] S, C2 S2 -C,S2C3 + S1S3 C,S2S3 + S,C3 C,C2 |-S,S2C3 - CS3 S,S2S3 + C, C3 C2 0 S2 0 'T2 = IT3=°T,'T2?T3 = C2C3 -C2S3 1 0 0 0 0 1 C3 -S, 0 07 S3 C3 0 0 2T3 = %3D 1 0 0 1
Transcribed Image Text:The known position and orientation of the end of the arm point is. [G 0 S, 07 S, 0 -G 0 °T = 0 1 0 0 0 1 [-S2 0 C2 01 0] S, C2 S2 -C,S2C3 + S1S3 C,S2S3 + S,C3 C,C2 |-S,S2C3 - CS3 S,S2S3 + C, C3 C2 0 S2 0 'T2 = IT3=°T,'T2?T3 = C2C3 -C2S3 1 0 0 0 0 1 C3 -S, 0 07 S3 C3 0 0 2T3 = %3D 1 0 0 1
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Transcribed Image Text:Connerted "to robot arm Pach Yaw
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