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Problem 3: Consider the two-link planar elbow manipulator shown below with link information: a₁ = 3, a₂ = 3. a2 S 3/0 Link | a | ai | di ai | di | 0i | มา 02 21 02. 12 01 0 0 01 02 0 0 02 01 To (a) Find the location of the end-effector P° if the joint angles are: 0₁ = 140°, 0₂ = 30° (b) Find the values of joint variables 01, 02 if the robotic manipulator is commanded to reach the desired location of Pº = [4.5, 3,0]. Notice there are possibly two sets of solutions. (c) Also sketch the two poses of the robot for the computed joint variables. Page 5 of 7

Problem 3: Consider the two-link planar elbow manipulator shown below with link information: a₁ = 3, a₂ = 3. a2 S 3/0 Link | a | ai | di ai | di | 0i | มา 02 21 02. 12 01 0 0 01 02 0 0 02 01 To (a) Find the location of the end-effector P° if the joint angles are: 0₁ = 140°, 0₂ = 30° (b) Find the values of joint variables 01, 02 if the robotic manipulator is commanded to reach the desired location of Pº = [4.5, 3,0]. Notice there are possibly two sets of solutions. (c) Also sketch the two poses of the robot for the computed joint variables. Page 5 of 7

Computer Networking: A Top-Down Approach (7th Edition)
Computer Networking: A Top-Down Approach (7th Edition)
7th Edition
ISBN:9780133594140
Author:James Kurose, Keith Ross
Publisher:James Kurose, Keith Ross
Chapter1: Computer Networks And The Internet
Section: Chapter Questions
Problem R1RQ: What is the difference between a host and an end system? List several different types of end...
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Problem 3: Consider the two-link planar elbow manipulator shown below with link information: a₁ = 3, a₂ = 3. a2 S 3/0 Link | a | ai | di ai | di | 0i | มา 02 21 02. 12 01 0 0 01 02 0 0 02 01 To (a) Find the location of the end-effector P° if the joint angles are: 0₁ = 140°, 0₂ = 30° (b) Find the values of joint variables 01, 02 if the robotic manipulator is commanded to reach the desired location of Pº = [4.5, 3,0]. Notice there are possibly two sets of solutions. (c) Also sketch the two poses of the robot for the computed joint variables. Page 5 of 7
Transcribed Image Text:Problem 3: Consider the two-link planar elbow manipulator shown below with link information: a₁ = 3, a₂ = 3. a2 S 3/0 Link | a | ai | di ai | di | 0i | มา 02 21 02. 12 01 0 0 01 02 0 0 02 01 To (a) Find the location of the end-effector P° if the joint angles are: 0₁ = 140°, 0₂ = 30° (b) Find the values of joint variables 01, 02 if the robotic manipulator is commanded to reach the desired location of Pº = [4.5, 3,0]. Notice there are possibly two sets of solutions. (c) Also sketch the two poses of the robot for the computed joint variables. Page 5 of 7
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