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MindTap for Herman's Understanding Motor Controls, 4th Edition [Instant Access], 2 terms
4th Edition
ISBN: 9781337798754
Author: Herman; Stephen L.
Publisher: Cengage Learning US
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Chapter 37, Problem 6RQ
To determine
The full load running current of the motor and the minimum size NEMA and IEC starters to be used.
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1) Consider the robot, with six degrees of freedom, RRPRR, shown in the following figure.Place the axes through the denavit-hartenberg algorithm and obtain the respective parameter table for the first three joints. 2) Considering the robot from question 1, calculate.the. Determine the Homogeneous Transformation Matrix in relation to the Direct Kinematics of the robot, for the first three joints:b. Considering the first three joints of the robot and L1 and L2 equal to 200 mm:I. calculate the pose of the robot relative to the base, knowing the joint variableshave the following values: q1= 90°, q2= 0°, q3= 50mm:
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MindTap for Herman's Understanding Motor Controls, 4th Edition [Instant Access], 2 terms
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