Prepare the forward kinematic model lengths 1, 2 and le respectively by deve Respective coordinate frames as (i)
Prepare the forward kinematic model lengths 1, 2 and le respectively by deve Respective coordinate frames as (i)
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:(a)
Prepare the forward kinematic model for a 3-link planar arm with link
lengths 11, 12 and le respectively by developing
(i) Respective coordinate frames as per D-H rules,
(ii) D-H parameters table,
(iii)
(iv)
(v)
Individual transformation matrices, i-1T₁, and
The transformation matrix of the last frame with reference to the
base frame.
Also draw the orientation and position of the last frame with
reference to the base frame, if link lengths are
a₁ = 82 = a3 = 10 units, 0₁ = 0°, 02 = 45° and 03 = 45°.
Given that i-1T; matrix form is as following.
Note : angles are measured in counter-clockwise direction.
P
Y4
co₁
se₁
0
0,
a1
√102
a2
Sa;
0
ag
X
- Se.Ca. se;Sa
Ce,CaCOSα₁
-
Ca
0
a¡C0₁
a¡S0₁
d₁
1
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