Given the world coordinates for an RR: R robot similar to Figure 1 shown below, a=120...
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Given the world coordinates for an RR: R robot similar to Figure 1 shown below, a=120 and the links have values; Lo-25mm, L₁-350mm, L2=250mm, L3-50mm and also given the joint angles as; 0₁-30 and 02-30. 0,0 0₁ ما L₂ 3₂ L₂ Ja 8₂ a Figure 1: RAR Robot manipulator 2.1.1. Determine the forward kinematics (x and z coordinates of the end effector). (6) 2.1.2. Sketch an appropriately label a diagram to demonstrate this position. (6) 2.1.3. What are the positions (coordinates) of joints J2 and J3 considering the origin to be at the base of Lo? (8) (6) 2.1.4. Describe the difference between Forward and inverse kinematics. 2.2. The links pf the RR:R Manipulator in Figure 2 have the following values: L₁-500mm, L2=400mm and L3=25mm. Determine the values of 01, 02 and 03 given that the position of the end effector is at X=650mm and Z=250mm. (9) J₁ 0,0 X, Z ول 8₂ 82 Figure 2: RR:R Manipulator Given the world coordinates for an RR: R robot similar to Figure 1 shown below, a=120 and the links have values; Lo-25mm, L₁-350mm, L2=250mm, L3-50mm and also given the joint angles as; 0₁-30 and 02-30. 0,0 0₁ ما L₂ 3₂ L₂ Ja 8₂ a Figure 1: RAR Robot manipulator 2.1.1. Determine the forward kinematics (x and z coordinates of the end effector). (6) 2.1.2. Sketch an appropriately label a diagram to demonstrate this position. (6) 2.1.3. What are the positions (coordinates) of joints J2 and J3 considering the origin to be at the base of Lo? (8) (6) 2.1.4. Describe the difference between Forward and inverse kinematics. 2.2. The links pf the RR:R Manipulator in Figure 2 have the following values: L₁-500mm, L2=400mm and L3=25mm. Determine the values of 01, 02 and 03 given that the position of the end effector is at X=650mm and Z=250mm. (9) J₁ 0,0 X, Z ول 8₂ 82 Figure 2: RR:R Manipulator
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Solutions Step 1 Explanation To solve the given problem well perform the forward kinematics calculations step by step 211 Forward Kinematics To determine the forward kinematics well calculate the x z ... View the full answer
Related Book For
Introduction to Algorithms
ISBN: 978-0262033848
3rd edition
Authors: Thomas H. Cormen, Charles E. Leiserson, Ronald L. Rivest
Posted Date:
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