Advanced Engineering Mathematics
Advanced Engineering Mathematics
10th Edition
ISBN: 9780470458365
Author: Erwin Kreyszig
Publisher: Wiley, John & Sons, Incorporated
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QUESTION 5 For the given DH Table, find the transformation matrix with frames (0), (1), (2) & (3) i O 1 2 3 T₂¹=? a₁ 0 0 0 C1 0 S1 0 0 -1 0 0 [C1 C2 S1C2 -S₂ OOTO C2 S2 0 -1 0 0 αi -90 -90 0 -S1 C1 0 0 S1 -C1 0 0031 -S2 C2 5300 00 00 di 3m 0 d3= L3 -C1S2 -S1 S2 -C₂ 0 0 00 1 L3 0 0 0 1 1000 1. 0₁ 0₁ = 0 82 = -90 0 01 0 3 1
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Transcribed Image Text:QUESTION 5 For the given DH Table, find the transformation matrix with frames (0), (1), (2) & (3) i O 1 2 3 T₂¹=? a₁ 0 0 0 C1 0 S1 0 0 -1 0 0 [C1 C2 S1C2 -S₂ OOTO C2 S2 0 -1 0 0 αi -90 -90 0 -S1 C1 0 0 S1 -C1 0 0031 -S2 C2 5300 00 00 di 3m 0 d3= L3 -C1S2 -S1 S2 -C₂ 0 0 00 1 L3 0 0 0 1 1000 1. 0₁ 0₁ = 0 82 = -90 0 01 0 3 1
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