Joint 2 Join
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- Supposing a programmer, using absolute mode, mistakenly entered Z-3.689, when he or she intended to enter Z3.689. Describe what would happen, and how far the actual position would be from the intended position.For the following 3-DOF RPR Industrial manipulator arm shown in figure: Joint 2 Joint 3 End point Pe Joint 1 Base Figure 1 3-DOF RPR (Industrial manipulator arm) Provide the step by step procedure for the frame assignment. a. Design and assign the labels for the given industrial manipulator arm b. Formulate the coordinate frames based on the D-H representation.What are the Lagrange equations of the PR manipulator?
- Derive the inverse kinematics of the 3-DOF manipulator shown below: Joint 2 Joint 3 Joint 1Consider the following 4 DOF manipulator. a) Assign the frames, and derive the link parameters in the DH table. b) Calculate the forward kinematics. c) Calculate the inverse kinematics of this robotic manipulator. ZU XH 4 YUGiving solutions on working cycle of this code: G81 Z-0.375 R0.1 F9 (sketching illustration the cycle loop is needed) by determining the code before this line is X5 Y5 Z1
- NOTE PLEASE SHOW CODE FOR OCTAVE OR MATLABF(t) = 300NProblem 3: The RPH robot of Figure 3 is shown in its zero position. Determine the end- effector zero position configuration M, and the screw axes S; in {s}. n. F -inta. Sorowo- Zs {s} Xs L₁ ŷs Lo 0₁5 L2 02 {b} zb 103 pitch h = 0.1 m/rad Ấb ŷb L3 Figure 3: An RPH open chain shown at its zero position. All arrows along/about the joint axes are drawn in the positive direction (i.e., in the direction of increasing joint value). The pitch of the screw joint is 0.1 m/rad, i.e., it advances linearly by 0.1 m for every radian rotated. The link lengths are Lo = 4, L₁= 3, L2= 2, and L3= 1 (figure not drawn to scale).For the 3-DOF Industrial manipulator arm as shown in Figure 3, determine the joint displacements for known position and orientation of the end of the arm point. 0. 0. Y1A Y2 A Y3 X2 X3 21 22 23 Yo xo Figure 3. 3 DOF RRR Industrial manipulator arm The link transformation matrices are given by C3 -S3 0 a3C3 S3 C3 1 C2 -S2 0 a,C2 C1 S1 -S1 -C1 d1 S2 C2 2T3 %3D T2 1 1 1 1 1 S1 C\C2a3+C1a2 C1C2C3 – C1S2S3 -C¡C2S3 – C1S2S3 S,C2C3 – S1S2S3 -SĄC2S3 – S1 S2C3 -C1 SịC2a3+ Sja2 Szaz + d1 1 OT3 = = °T, 'T2 ?T3 S½C3 + C2S3 - S2S3 + C2C3
- The two axes of an x-y positioning table are each driven by a stepping motor connected to a leadscrew with a 10:1 gear reduction. The number of step angles on each stepping motor is 20. Each leadscrew has a pitch = 5.0 mm and provides an axis range = 300.0 mm. There are 16 bits in each binary register used by the controller to store position data for the two axes. What is the control resolution of each axis? What are the required the rotational speeds and corresponding pulse train frequencies of each stepping motor in order to drive the table at 600 mm/min in a straight line from point (25,25) to point (100,150)? Ignore acceleration.Evaluate the 3-DOF wrist as shown in Figure 2, use the conventional method to determine 1. Linear velocity and 2. Angular velocity NOTE: for JOINT 3 ( 03 ) only Connected to robot arm Pitch Roll Yaw Figure 2: Wrist assembly The known position and orientation of the end of the arm point is. C, C2 [-C,S2C3 + S¼S3 -S;S2C3 – C1S3 C2C3 C¡S2S3 + S1C3 S4S2S3 + C,C3 -C2S3 01 S,C2 S2 1 °T3=°T¡'T2²T333. Press [SHIFT] key and [COORD] key together in the teach pendant allows the robot programmer to (a) activate user-specified user tool frame or user frame (b) select jogging coordinate system (c) record a robot point 34. The FANUC LR Mate 200iC robot is classified as (a) a cylindrical robot (b) a spherical robot (c) an articulate robot