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Tip 2,0 (a) (b) FIGURE 3.32: Two-link arm with frame assignments (Exercise 3.9). 3.9 (11) For the two-link manipulator shown in Fig. 3.32(a), the link-transformation matrices, 7 andT, were constructed. Their product is 0. 1 The link-frame assignments used are indicated in Fig. 3.32(b). Note that frame (0) is coincident with frame (1) when 0 0. The length of the second link is . Find an expression for the vector ° Pup, which locates the tip of the arm relative

Tip 2,0 (a) (b) FIGURE 3.32: Two-link arm with frame assignments (Exercise 3.9). 3.9 (11) For the two-link manipulator shown in Fig. 3.32(a), the link-transformation matrices, 7 andT, were constructed. Their product is 0. 1 The link-frame assignments used are indicated in Fig. 3.32(b). Note that frame (0) is coincident with frame (1) when 0 0. The length of the second link is . Find an expression for the vector ° Pup, which locates the tip of the arm relative

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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Tip L2 21,0 LI (a) (b) FIGURE 3.32: Two-link arm with frame assignments (Exercise 3.9). 3.9 (11] For the two-link manipulator shown in Fig. 3.32(a), the link-transformation matrices, 0T and }r, were constructed. Their product is 0. 1 The link-frame assignments used are indicated in Fig. 3.32(b). Note that frame (0) is coincident with frame (1} when 0, = 0. The length of the second link is 4. Find an expression for the vector °P,up, which locates the tip of the arm relative to the (0} frame.
Transcribed Image Text:Tip L2 21,0 LI (a) (b) FIGURE 3.32: Two-link arm with frame assignments (Exercise 3.9). 3.9 (11] For the two-link manipulator shown in Fig. 3.32(a), the link-transformation matrices, 0T and }r, were constructed. Their product is 0. 1 The link-frame assignments used are indicated in Fig. 3.32(b). Note that frame (0) is coincident with frame (1} when 0, = 0. The length of the second link is 4. Find an expression for the vector °P,up, which locates the tip of the arm relative to the (0} frame.
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