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X N 06 20 OTOOL 03 04 130 Actuator 6 Actuator 5 105 28.5 06 05 Os 105 - 28.5 Actuator 4 140 280 Actuator 3 30 Oz 115 Actuator 2 Actuator 1 y KINEM 01 128.3 Base frame KINOVA N y

X N 06 20 OTOOL 03 04 130 Actuator 6 Actuator 5 105 28.5 06 05 Os 105 - 28.5 Actuator 4 140 280 Actuator 3 30 Oz 115 Actuator 2 Actuator 1 y KINEM 01 128.3 Base frame KINOVA N y

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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I have attached a picture of the lengths of the robot's links, the axes of rotation for each joint, and the offsets between consecutive joints. 

Based on these coordinates:

m = meters
x = 0.399 m y = -0.12 m z = 0.047 m theta x = 11.6 theta y = -0.12 theta z = 82.5

Please tabulate the joint angle values of the Kinova arm: 

e.g. J1 (starting from the base) = …… (deg)

X N 06 20 OTOOL 03 04 130 Actuator 6 Actuator 5 105 28.5 06 05 Os 105 - 28.5 Actuator 4 140 280 Actuator 3 30 Oz 115 Actuator 2 Actuator 1 y KINEM 01 128.3 Base frame KINOVA N y
Transcribed Image Text:X N 06 20 OTOOL 03 04 130 Actuator 6 Actuator 5 105 28.5 06 05 Os 105 - 28.5 Actuator 4 140 280 Actuator 3 30 Oz 115 Actuator 2 Actuator 1 y KINEM 01 128.3 Base frame KINOVA N y
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