XU 2 ZU 5 yu 3 Figure 2: A four-degree-of freedom robot 2 [1 3

Precision Machining Technology (MindTap Course List)
2nd Edition
ISBN:9781285444543
Author:Peter J. Hoffman, Eric S. Hopewell, Brian Janes
Publisher:Peter J. Hoffman, Eric S. Hopewell, Brian Janes
Chapter8: Computer Numerical Control
Section8.1: Cnc Basics
Problem 2RQ: What is an MCU and what is its function?
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1) Compute and complete D-H parameter table.

2) Compute the transformation matrix describing the motion of joint 3 relatives to joint 1 given that  θ1= 30°.

XU
2
ZU
5
yu
3
Figure 2: A four-degree-of freedom robot
2
[1
3
Transcribed Image Text:XU 2 ZU 5 yu 3 Figure 2: A four-degree-of freedom robot 2 [1 3
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