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Problem 2: Find the Jacobian of the manipulator with three degrees of freedom shown below. Write it in terms of a frame {4} located at the tip of the hand and having the same orientation as frame {3}. Ja 9₂ TOT

Problem 2: Find the Jacobian of the manipulator with three degrees of freedom shown below. Write it in terms of a frame {4} located at the tip of the hand and having the same orientation as frame {3}. Ja 9₂ TOT

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
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**Problem 2:** Find the Jacobian of the manipulator with three degrees of freedom shown below. Write it in terms of a frame {4} located at the tip of the hand and having the same orientation as frame {3}. **Diagram Explanation:** The diagram illustrates a robotic manipulator with three segments. - The base segment is horizontal, indicated with a rotational joint labeled as θ₁, driving motion around a vertical axis. The length of this segment is L₁. - The second segment extends upwards from the end of the first segment and is connected with a rotational joint labeled θ₂. This joint allows rotation in a vertical plane. The length of the second segment is L₂. - The third segment continues from the second joint, also in a vertical plane, with an angular movement denoted by θ₃, similarly to θ₂. The aim is to determine the Jacobian matrix that correlates the manipulator's joint velocities with its end-effector velocity, represented in a frame {4} at the tip of the hand, sharing the orientation with frame {3}.
Transcribed Image Text:**Problem 2:** Find the Jacobian of the manipulator with three degrees of freedom shown below. Write it in terms of a frame {4} located at the tip of the hand and having the same orientation as frame {3}. **Diagram Explanation:** The diagram illustrates a robotic manipulator with three segments. - The base segment is horizontal, indicated with a rotational joint labeled as θ₁, driving motion around a vertical axis. The length of this segment is L₁. - The second segment extends upwards from the end of the first segment and is connected with a rotational joint labeled θ₂. This joint allows rotation in a vertical plane. The length of the second segment is L₂. - The third segment continues from the second joint, also in a vertical plane, with an angular movement denoted by θ₃, similarly to θ₂. The aim is to determine the Jacobian matrix that correlates the manipulator's joint velocities with its end-effector velocity, represented in a frame {4} at the tip of the hand, sharing the orientation with frame {3}.
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