A 4-DOF robot arm was shown in the figure 1. For this robot: a) Assign coordinate...
Fantastic news! We've Found the answer you've been seeking!
Question:
![image text in transcribed](https://s3.amazonaws.com/si.experts.images/answers/2024/05/6648538a0deb3_009664853899212d.jpg)
Transcribed Image Text:
A 4-DOF robot arm was shown in the figure 1. For this robot: a) Assign coordinate frames based on the D-H representation. b) Fill out the D-H parameters table. c) Find the link transformation matrix for each link. d) Find the Forward kinematics of the robot. e) Find the Inverse kinematics of the robot. f) Find the Jacobian Matrix. g) Find the torques of the joints for the joint space trajectory by using Newton-Euler method. h) Write the code in MATLAB and simulate the robot. Parameters Values Units 4 0.4 m 12 0.1 m 13 d3 l3 0.6 m 14 0.05 m 9.7 kg m1 01 m2 4.864 kg m3 3.153 kg Zo yo 0.178 m4 kg 02 [0.0384 0 0.01] [0.155 0 0 0 0.048 0 0 0.0053 0 0.01 0 0.05] 0 0 0.1549] [0.0639 0 0 [0.00011 0 0 13 = 0 0.0634 0 14 0 0.00012 0 0 0 0.0014] 0 0 0.00006] A 4-DOF robot arm was shown in the figure 1. For this robot: a) Assign coordinate frames based on the D-H representation. b) Fill out the D-H parameters table. c) Find the link transformation matrix for each link. d) Find the Forward kinematics of the robot. e) Find the Inverse kinematics of the robot. f) Find the Jacobian Matrix. g) Find the torques of the joints for the joint space trajectory by using Newton-Euler method. h) Write the code in MATLAB and simulate the robot. Parameters Values Units 4 0.4 m 12 0.1 m 13 d3 l3 0.6 m 14 0.05 m 9.7 kg m1 01 m2 4.864 kg m3 3.153 kg Zo yo 0.178 m4 kg 02 [0.0384 0 0.01] [0.155 0 0 0 0.048 0 0 0.0053 0 0.01 0 0.05] 0 0 0.1549] [0.0639 0 0 [0.00011 0 0 13 = 0 0.0634 0 14 0 0.00012 0 0 0 0.0014] 0 0 0.00006]
Expert Answer:
Posted Date:
Students also viewed these mechanical engineering questions
-
A firm only uses one input in its production function, labor (L = number of workers) to produce car rides (all the workers provide their own cars, gas, etc.). The firm's total revenue (TR) function...
-
On January 1, 2010, ABC Airline Service purchased an airplane for $37,700,000. ABC Airline Service expects the plane to remain useful for six years and to have a residual value of $2,900,000. ABC...
-
Is it possible for HP to function like a smaller company? Why or why not? Imagine this scenario: You need a new digital camera. Youre not sure which one to buy or even what features you need. So you...
-
The Forrester Company's income statement and comparative balance sheets as of December 31 of 2019 and 2018 are shown below: Cash dividends of \(\$ 31,000\) were declared and paid during 2019. Plant...
-
The following financial data were taken from the annual financial statements of Smith Corporation: Required a. Based on these data, calculate the following for 2008 and 2009: 1. Working capital 2....
-
A Chevrolet Sonic Hatchback costs $15,215.00. With a 7% down payment, you can have an amortized loan for 5 years at a rate of 3.5%. What will the monthly payment be? $1 Preview T a 8 a GP Va sin How...
-
People who are in the process of changing jobs are accounted for in the category of: structural unemployment. underemployed. a b C d e frictional unemployment. cyclical unemployment. involuntary...
-
Find the surface area of the volume generated when the following curve revolves around the x-axis. If you cannot evaluate the integral exactly, use your calculator to approximate it. (Round your...
-
According to Bernard Kerik, former commissioner of the New York City Police Department (and NYCDOC): "Grown men sit around...talking about old times, drugs, guns... Then you have young, nonviolent,...
-
Journal Entry 4 Reflect on what you have learned about being a community services worker through your Fieldwork Placement. For example: For you, what are the personal and professional challenges of...
-
Advanced Weapon Systems (AWS) is in a contract to manufacture and deliver 1,200 units of certain classified military weapon to the US Naval Air Systems Command (NAVAIR).NAVAIR expects the...
-
A drug is administered every 12 hours in doses of 10mg. The drug is neutralized at an exponential rate of k=0.2. Not all of the drug is neutralized before the next dose is administered. The amount of...
-
A crystal of Al(OH)3 is very slowly growing in a solution, so that Al(OH)3(s) Al3+(aq) + 3OH-(aq) is essentially in equilibrium. For each of the following changes, discuss if the total mass of the...
-
Suppose that a business sells 6-month subscriptions to its monthly magazine. On January 1, the company receives a total of $600 for 10 subscriptions. To record this transaction, the company debits...
-
A public company may not use a disclosed basis of accounting for external public financial reporting.
-
Canadian companies must always prepare their annual financial statements in Canadian dollars.
-
A company may take a big bath in a loss year if management wishes to maximize future earnings.
![Mobile App Logo](https://dsd5zvtm8ll6.cloudfront.net/includes/images/mobile/finalLogo.png)
Study smarter with the SolutionInn App