Consider the following cylindrical manipulator. 1. Find the Jacobian of this manipulator in terms of D-H...

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Consider the following cylindrical manipulator. 1. Find the Jacobian of this manipulator in terms of D-H parameters (01, d2, d3). 2. Using the Jacobian obtained in 1), calculate the value of the angular velocity and linear velocity v of the end-effector 03 with respect to the base when 0₁ = 0.1 rad, d2=0.5 m, d3=1.0 m, = 0.2 rad /s d₂=0.2m/s à, =0.2m/s # Note that is the angle between xo and X₁, about zo d₂ X2 1m Z₁ YO X1 Xo d3 Z2 X3 Z3 03 Consider the following cylindrical manipulator. 1. Find the Jacobian of this manipulator in terms of D-H parameters (01, d2, d3). 2. Using the Jacobian obtained in 1), calculate the value of the angular velocity and linear velocity v of the end-effector 03 with respect to the base when 0₁ = 0.1 rad, d2=0.5 m, d3=1.0 m, = 0.2 rad /s d₂=0.2m/s à, =0.2m/s # Note that is the angle between xo and X₁, about zo d₂ X2 1m Z₁ YO X1 Xo d3 Z2 X3 Z3 03

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Answer DH Table Joint 1 2 3 Using these DH values we write 3 transformation matrices 1 each for e... View the full answer