Question: Consider a 3-link cartesian manipulator, (a) Compute the inertia tensor J, for each link i = 1,2, 3 assuming that the links are uniform

Consider a 3-link cartesian manipulator, (a) Compute the inertia tensor J, for

Consider a 3-link cartesian manipulator, (a) Compute the inertia tensor J, for each link i = 1,2, 3 assuming that the links are uniform rectangular solids of length 1, width . and height , and mass 1. %3D (b) Compute the 3 x 3 inertia matrix D(g) for this manipulator. (c) Show that the Christoffel symbols cik are all zero for this robot. Interpret the meaning of this for the dynamic equations of motion. d) Derive the equations of motion in matrix form: D(q)+C(q, 4)4 +g(q)

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