Question: 8. Consider the robot configuration shown in Figure 4. Use a process of post-multiplication of, joint-to-joint, homogeneous transformation and displacement matrices (i-H.D.) to derive

8. Consider the robot configuration shown in Figure 4. Use a process

8. Consider the robot configuration shown in Figure 4. Use a process of post-multiplication of, joint-to-joint, homogeneous transformation and displacement matrices (i-H.D.) to derive a geometrical model of the robot representing the pose of the end-effector (frame x2,y2, Z2) in the base frame (xo, yo, Zo), ie H. S C-s0-s 0 12c 1+d 1 Answer: H = (HD )( 'HD) 0 0 0 0 0 c = cos, s = sin 1, N Z1 Y Zo Yo 12 Figure 4: Robot configuration. y x2 d

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