Answered: X N 06 20 OTOOL 03 04 130 Actuator 6…

X N 06 20 OTOOL 03 04 130 Actuator 6 Actuator 5 105 28.5 06 05 Os 105 - 28.5 Actuator 4 140 280 Actuator 3 30 Oz 115 Actuator 2 Actuator 1 y KINEM 01 128.3 Base frame KINOVA N y

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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Question

I have attached a picture of the lengths of the robot's links, the axes of rotation for each joint, and the offsets between consecutive joints.

Based on these coordinates:

m = meters
x = 0.399 m y = -0.12 m z = 0.047 m theta x = 11.6 theta y = -0.12 theta z = 82.5

Please tabulate the joint angle values of the Kinova arm:

e.g. J1 (starting from the base) = …… (deg)

X
N
06
20
OTOOL
03 04
130
Actuator 6
Actuator 5
105
28.5
06 05
Os
105
- 28.5
Actuator 4
140
280
Actuator 3
30
Oz
115
Actuator 2
Actuator 1
y
KINEM
01
128.3
Base frame
KINOVA
N
y

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