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Compute the joint parameter theta1 and theta3, given the end-effector pose in the homogenous transformation T6 as follows: T6 = [0.4474 0.2447 0.8602 2084.9; -0.6953 -0.5098 0.5066 1731.4; 0.5625 -0.8248 -0.0580 941.99; 0 0 0 1]; % you could write and execute your codes here for the computation. Answer: theta1_in_task3 = 0 | theta3_in_task3 = Ө Hint1: x x Wx Px My By Wy Py U V W Pz 0 0 1 Xo Варе P4 = P6+P64 The robot has the same kinematics parameters as follows: Өл X4 Χι Joint 2 Link 2 a2 X3 Joint 3 03 d₁ Z₁ Link 1 d₂ Joint 1 Link 4 Link 3 03 Joint 4 d4 X2 d3 05 Joint 5 Xo 01 Base Z₂ d1=1000; theta1=45; a1=0; alpha1=90; d2=0; theta2=30; a2=1000; alpha2=0; d3=0; theta3=30; a3=0; alpha3=90; d4=1000; theta4=30; a4=0; alpha4=-90; d5=0; theta5=-60; a5=0; alpha5=90; d6=1000; theta6-30; a6=0; alpha6=0; X5 do Link 5 Joint 6 Link 6 ZA 25 06 X6 26

Compute the joint parameter theta1 and theta3, given the end-effector pose in the homogenous transformation T6 as follows: T6 = [0.4474 0.2447 0.8602 2084.9; -0.6953 -0.5098 0.5066 1731.4; 0.5625 -0.8248 -0.0580 941.99; 0 0 0 1]; % you could write and execute your codes here for the computation. Answer: theta1_in_task3 = 0 | theta3_in_task3 = Ө Hint1: x x Wx Px My By Wy Py U V W Pz 0 0 1 Xo Варе P4 = P6+P64 The robot has the same kinematics parameters as follows: Өл X4 Χι Joint 2 Link 2 a2 X3 Joint 3 03 d₁ Z₁ Link 1 d₂ Joint 1 Link 4 Link 3 03 Joint 4 d4 X2 d3 05 Joint 5 Xo 01 Base Z₂ d1=1000; theta1=45; a1=0; alpha1=90; d2=0; theta2=30; a2=1000; alpha2=0; d3=0; theta3=30; a3=0; alpha3=90; d4=1000; theta4=30; a4=0; alpha4=-90; d5=0; theta5=-60; a5=0; alpha5=90; d6=1000; theta6-30; a6=0; alpha6=0; X5 do Link 5 Joint 6 Link 6 ZA 25 06 X6 26

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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Compute the joint parameter theta1 and theta3, given the end-effector pose in the homogenous transformation T6 as follows: T6 = [0.4474 0.2447 0.8602 2084.9; -0.6953 -0.5098 0.5066 1731.4; 0.5625 -0.8248 -0.0580 941.99; 0 0 0 1]; % you could write and execute your codes here for the computation. Answer: theta1_in_task3 = 0 | theta3_in_task3 = Ө Hint1: x x Wx Px My By Wy Py U V W Pz 0 0 1 Xo Варе P4 = P6+P64
Transcribed Image Text:Compute the joint parameter theta1 and theta3, given the end-effector pose in the homogenous transformation T6 as follows: T6 = [0.4474 0.2447 0.8602 2084.9; -0.6953 -0.5098 0.5066 1731.4; 0.5625 -0.8248 -0.0580 941.99; 0 0 0 1]; % you could write and execute your codes here for the computation. Answer: theta1_in_task3 = 0 | theta3_in_task3 = Ө Hint1: x x Wx Px My By Wy Py U V W Pz 0 0 1 Xo Варе P4 = P6+P64
The robot has the same kinematics parameters as follows: Өл X4 Χι Joint 2 Link 2 a2 X3 Joint 3 03 d₁ Z₁ Link 1 d₂ Joint 1 Link 4 Link 3 03 Joint 4 d4 X2 d3 05 Joint 5 Xo 01 Base Z₂ d1=1000; theta1=45; a1=0; alpha1=90; d2=0; theta2=30; a2=1000; alpha2=0; d3=0; theta3=30; a3=0; alpha3=90; d4=1000; theta4=30; a4=0; alpha4=-90; d5=0; theta5=-60; a5=0; alpha5=90; d6=1000; theta6-30; a6=0; alpha6=0; X5 do Link 5 Joint 6 Link 6 ZA 25 06 X6 26
Transcribed Image Text:The robot has the same kinematics parameters as follows: Өл X4 Χι Joint 2 Link 2 a2 X3 Joint 3 03 d₁ Z₁ Link 1 d₂ Joint 1 Link 4 Link 3 03 Joint 4 d4 X2 d3 05 Joint 5 Xo 01 Base Z₂ d1=1000; theta1=45; a1=0; alpha1=90; d2=0; theta2=30; a2=1000; alpha2=0; d3=0; theta3=30; a3=0; alpha3=90; d4=1000; theta4=30; a4=0; alpha4=-90; d5=0; theta5=-60; a5=0; alpha5=90; d6=1000; theta6-30; a6=0; alpha6=0; X5 do Link 5 Joint 6 Link 6 ZA 25 06 X6 26
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