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Problem 3 Two consecutive frames describe the old and new T₂ positions and orientations of the end of a 3-DOF robot. The corresponding Jacobian, relating to dz Ex, Sz is also given. Find values of joint differential motions ds₁, de₁, de 3, of the robot that caused the given frame change. T₁ Г0 0 1 10 1 00 0.05 0 1 9.75 5 10 0 1 -0.1 0.05 5.2 = T₂ J = 3 0 0 0 1 0 3 0.1 1 0 3.7 0 1 1 0 0 0 1 000 1

Problem 3 Two consecutive frames describe the old and new T₂ positions and orientations of the end of a 3-DOF robot. The corresponding Jacobian, relating to dz Ex, Sz is also given. Find values of joint differential motions ds₁, de₁, de 3, of the robot that caused the given frame change. T₁ Г0 0 1 10 1 00 0.05 0 1 9.75 5 10 0 1 -0.1 0.05 5.2 = T₂ J = 3 0 0 0 1 0 3 0.1 1 0 3.7 0 1 1 0 0 0 1 000 1

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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Problem 3 Two consecutive frames describe the old T and new T2 positions and orientations of the end of a 3-DOF robot. The corresponding Jacobian, relating to dz &x, &z is also given. Find values of joint differential motions ds₁, de₁, de¸, of the robot that caused the given frame change. 001 10 -0.05 01 9.75 5 10 0 100 5 1 -0.1 0.05 5.2 T₁ = T₂ = J = 3 0 0 0103 0.1 1 0 3.7 0 1 1 000 1 0 0 0 1
Transcribed Image Text:Problem 3 Two consecutive frames describe the old T and new T2 positions and orientations of the end of a 3-DOF robot. The corresponding Jacobian, relating to dz &x, &z is also given. Find values of joint differential motions ds₁, de₁, de¸, of the robot that caused the given frame change. 001 10 -0.05 01 9.75 5 10 0 100 5 1 -0.1 0.05 5.2 T₁ = T₂ = J = 3 0 0 0103 0.1 1 0 3.7 0 1 1 000 1 0 0 0 1
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