Finish the DH parameters (defalut 0) in the table below for the 6DOF robot, given the kinematic parameters indicated in the picture bellow: |d₁ = 180 mm, |d₂| = 150 mm, |a2| = 600 mm, |d3|= 150 mm, |a3| = 600 mm, |d4| = 150 mm, |ds| = 100 mm, and |d6| = 100 mm, and |01|=90, |02|=45, |03|=60, |04|=120, |05|=110, |06|=135, |a1| = 90, |a4|= 90, |as|= 90. d₁ Joint 2 a2 Link 3 Joint 4 04 ds Joint 5 05 Link 44Link 5 Joint 6 Zo dz Z Joint 1 Link 2 02 X1 दु X2 Joint 3 Z2 a3. Z3 X3 26 06-76 +26 600 150 10 190 600 01 Xo Base d1=0; theta1=0; a1=0%; alpha1=0; d2=0; theta2=0; a2=0; alpha2=0; d3=0; theta3=0; a3=0; alpha3=0; d4=0; theta4=0; a4=0; alpha4=0; d5=0; theta5=0; a5=0; alpha5=0; d6=0; theta6=0; a6=0; alpha6=0; DH [d1, thetal, al, alpha1; = d2, theta2, a2, alpha2; d3, theta3, a3, alpha3; d4, theta4, a4, alpha4; d5, theta5, a5, alpha5; d6, theta6, a6, alpha6] Compute the pose of final end-effector frame6 expressed in base frame0, given the joint values thetax equals to the values in the above DH table. The pose consists of a set of position coordinates, and a set of Euler angles in convention of rotations around ZxZ or (w.u.W). % you could write and execute your codes here for the computation. Write the answer of the end-effector pose here: X6=0; Y6=0; Z6=0; RotZ1=0; % Euler angle around z or w; Rotx=0; % Euler angle around x or u; RotZ2=0;% Euler angle around z or w again;
Finish the DH parameters (defalut 0) in the table below for the 6DOF robot, given the kinematic parameters indicated in the picture bellow: |d₁ = 180 mm, |d₂| = 150 mm, |a2| = 600 mm, |d3|= 150 mm, |a3| = 600 mm, |d4| = 150 mm, |ds| = 100 mm, and |d6| = 100 mm, and |01|=90, |02|=45, |03|=60, |04|=120, |05|=110, |06|=135, |a1| = 90, |a4|= 90, |as|= 90. d₁ Joint 2 a2 Link 3 Joint 4 04 ds Joint 5 05 Link 44Link 5 Joint 6 Zo dz Z Joint 1 Link 2 02 X1 दु X2 Joint 3 Z2 a3. Z3 X3 26 06-76 +26 600 150 10 190 600 01 Xo Base d1=0; theta1=0; a1=0%; alpha1=0; d2=0; theta2=0; a2=0; alpha2=0; d3=0; theta3=0; a3=0; alpha3=0; d4=0; theta4=0; a4=0; alpha4=0; d5=0; theta5=0; a5=0; alpha5=0; d6=0; theta6=0; a6=0; alpha6=0; DH [d1, thetal, al, alpha1; = d2, theta2, a2, alpha2; d3, theta3, a3, alpha3; d4, theta4, a4, alpha4; d5, theta5, a5, alpha5; d6, theta6, a6, alpha6] Compute the pose of final end-effector frame6 expressed in base frame0, given the joint values thetax equals to the values in the above DH table. The pose consists of a set of position coordinates, and a set of Euler angles in convention of rotations around ZxZ or (w.u.W). % you could write and execute your codes here for the computation. Write the answer of the end-effector pose here: X6=0; Y6=0; Z6=0; RotZ1=0; % Euler angle around z or w; Rotx=0; % Euler angle around x or u; RotZ2=0;% Euler angle around z or w again;
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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Transcribed Image Text:Finish the DH parameters (defalut 0) in the table below for the 6DOF robot, given the kinematic
parameters indicated in the picture bellow: |d₁ = 180 mm, |d₂| = 150 mm, |a2| = 600 mm,
|d3|= 150 mm, |a3| = 600 mm, |d4| = 150 mm, |ds| = 100 mm, and |d6| = 100 mm, and |01|=90,
|02|=45, |03|=60, |04|=120, |05|=110, |06|=135, |a1| = 90, |a4|= 90, |as|= 90.
d₁
Joint 2
a2
Link 3
Joint 4
04
ds
Joint 5
05
Link 44Link 5
Joint 6
Zo
dz
Z
Joint 1
Link 2
02
X1
दु
X2
Joint 3
Z2
a3.
Z3
X3
26 06-76
+26
600
150
10
190
600
01
Xo
Base
d1=0; theta1=0; a1=0%; alpha1=0;
d2=0; theta2=0; a2=0; alpha2=0;
![d3=0; theta3=0; a3=0; alpha3=0;
d4=0; theta4=0; a4=0; alpha4=0;
d5=0; theta5=0; a5=0; alpha5=0;
d6=0; theta6=0; a6=0; alpha6=0;
DH [d1, thetal, al, alpha1;
=
d2, theta2, a2, alpha2;
d3, theta3, a3, alpha3;
d4, theta4, a4, alpha4;
d5, theta5, a5, alpha5;
d6, theta6, a6, alpha6]
Compute the pose of final end-effector frame6 expressed in base frame0, given the joint values
thetax equals to the values in the above DH table. The pose consists of a set of position
coordinates, and a set of Euler angles in convention of rotations around ZxZ or (w.u.W).
% you could write and execute your codes here for the computation.
Write the answer of the end-effector pose here:
X6=0; Y6=0; Z6=0;
RotZ1=0; % Euler angle around z or w;
Rotx=0; % Euler angle around x or u;
RotZ2=0;% Euler angle around z or w again;](/v2/_next/image?url=https%3A%2F%2Fcontent.bartleby.com%2Fqna-images%2Fquestion%2Fe23ae763-28c2-4106-8a99-c21e032becaf%2F255ea765-b4fa-4fc5-afa1-206c1b324967%2Fawjb7bg_processed.png&w=3840&q=75)
Transcribed Image Text:d3=0; theta3=0; a3=0; alpha3=0;
d4=0; theta4=0; a4=0; alpha4=0;
d5=0; theta5=0; a5=0; alpha5=0;
d6=0; theta6=0; a6=0; alpha6=0;
DH [d1, thetal, al, alpha1;
=
d2, theta2, a2, alpha2;
d3, theta3, a3, alpha3;
d4, theta4, a4, alpha4;
d5, theta5, a5, alpha5;
d6, theta6, a6, alpha6]
Compute the pose of final end-effector frame6 expressed in base frame0, given the joint values
thetax equals to the values in the above DH table. The pose consists of a set of position
coordinates, and a set of Euler angles in convention of rotations around ZxZ or (w.u.W).
% you could write and execute your codes here for the computation.
Write the answer of the end-effector pose here:
X6=0; Y6=0; Z6=0;
RotZ1=0; % Euler angle around z or w;
Rotx=0; % Euler angle around x or u;
RotZ2=0;% Euler angle around z or w again;
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