For the type of robot shown in figure Q1 (last page): (a) (b) (c) Produce a diagram clearly showing the kinematic chain and assign co-ordinate frames using the Denavit-Hartenberg algorithm. From your results in (a) above evaluate the kinematic parameters for each axis and tabulate them. If the matrix describing the position of the end-effector relative to the wrist of the robot is given in the usual notation as: 3T= [c84c05c06-504506-c04c05506-504C06 C04505 с04505d6] s04c05c06+c84506-50₂05506+ CO₂c06 504505 504505d₁ 585586 εθς c05d6 1 0 -s05c06 0 -0.2165 0.875 0.433 0.625 -0.2165 0.75 0.75 0 Evaluate: i) ii) X y 0.433 -0.5 -100 0 0 1 the yaw pitch and roll angles 04, 05 and 06, the distance de and hence find the distances x and y of the end-effector relative to the wrist frame.

For the type of robot shown in figure Q1 (last page): (a) (b) (c) Produce a diagram clearly showing the kinematic chain and assign co-ordinate frames using the Denavit-Hartenberg algorithm. From your results in (a) above evaluate the kinematic parameters for each axis and tabulate them. If the matrix describing the position of the end-effector relative to the wrist of the robot is given in the usual notation as: 3T= [c84c05c06-504506-c04c05506-504C06 C04505 с04505d6] s04c05c06+c84506-50₂05506+ CO₂c06 504505 504505d₁ 585586 εθς c05d6 1 0 -s05c06 0 -0.2165 0.875 0.433 0.625 -0.2165 0.75 0.75 0 Evaluate: i) ii) X y 0.433 -0.5 -100 0 0 1 the yaw pitch and roll angles 04, 05 and 06, the distance de and hence find the distances x and y of the end-effector relative to the wrist frame.

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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