Consider the robot manipulator shown in Fig. 3, where the robot parameters including the lengths has...
Fantastic news! We've Found the answer you've been seeking!
Question:
Transcribed Image Text:
Consider the robot manipulator shown in Fig. 3, where the robot parameters including the lengths has ) to the been presented. a) Find the Forward Kinematics which maps the joins parameters (12, workspace parameters (x, y of the end-effector). [4] a) For any possible values of 1 2 11, mathematically drive the reachable workspace. (without any limitations on joint angels). [10] b) Find the basic Jacobian, Jo, for this manipulator which relates changes between workspace parameters (X, Y ) of the end - effector and the joint parameters. c) Find the singularities (with respect to linear velocity) of this manipulator.Fig. 3 Y m. 2m 24 0 m 24 X Fig. 3 End Effector Consider the robot manipulator shown in Fig. 3, where the robot parameters including the lengths has ) to the been presented. a) Find the Forward Kinematics which maps the joins parameters (12, workspace parameters (x, y of the end-effector). [4] a) For any possible values of 1 2 11, mathematically drive the reachable workspace. (without any limitations on joint angels). [10] b) Find the basic Jacobian, Jo, for this manipulator which relates changes between workspace parameters (X, Y ) of the end - effector and the joint parameters. c) Find the singularities (with respect to linear velocity) of this manipulator.Fig. 3 Y m. 2m 24 0 m 24 X Fig. 3 End Effector
Expert Answer:
Related Book For
Posted Date:
Students also viewed these mechanical engineering questions
-
QUIZ... Let D be a poset and let f : D D be a monotone function. (i) Give the definition of the least pre-fixed point, fix (f), of f. Show that fix (f) is a fixed point of f. [5 marks] (ii) Show that...
-
answer all questions as instructed below. attend all questions. 4 Computer Vision (a) Explain why such a tiny number of 2D Gabor wavelets as shown in this sequence are so efficient at representing...
-
After dating for over a year, Jack asked Jill to move in with him and gave her a key to his apartment. Shortly after Jill moved in, Jack and Jill got into an argument, and Jill moved out. Jack,...
-
Write a paper that responds to the following: Compare and contrast the legal concepts of "reasonable suspicion" and "probable cause." How does each of these concepts apply to law enforcement...
-
The waves from a radio station can reach a home receiver by two different paths. One is a straight-line path from the transmitter to the home, a distance of 30.0 km. The second path is by reflection...
-
A biologist decided that she wanted to have $\$ 54,267.89$ in her account in 10 years, and she found a bank which compounded monthly at $6 \%$. What are her monthly payments to achieve her goal of...
-
You expect to invest your funds equally in four stocks with the following expected returns: Stock Expected Return A........ 16% B........ 14 C........ 10 D........ 8 At the end of the year, each...
-
Consider SELECT statements listed below. SELECT L_PARTKEY, L_TAX, COUNT(*) FROM LINEITEM GROUP BY L PARTKEY, L_TAX; SELECT O TOTALPRICE, COUNT(*) FROM ORDERS GROUP BY O TOTALPRICE; SELECT L_TAX,...
-
You are trying to evaluate whether an existing, idle distillation column can be used for a separation for which it was not originally designed. Answer the following questions about this column: a....
-
a. If my car needs $1,200 in repairs today, do I have enough to cover the cost? b. If my job frequently requires me to work late or on weekends, is it worth it to pay additional money for premium...
-
You must design and deploy a DNS namespace that will be the most appropriate for the company network and supports an external presence (Segment A) and an Active Directory domain (segment B). Segment...
-
Carefully research and study health policies that meet the criteria listed below. Once you submit a health policy, you cannot change it. Ensure your selected health policy is contemporary (i.e., from...
-
The plot in (c) is decidedly unappealing for a number of reasons. Produce a more realistic depiction of the volcano as per the following: Use a new graphics device with the margin widths reset to...
-
(a) All firms in a perfectly competitive industry face the same long-run average cost curve, AC = 0.05q 5 + 500/q, and the same long-run marginal cost curve given by MC = 0.1q 5. The market demand...
-
Currently, the US seems poised to exit the Great Recession. Suppose that in the long run, the US economy will experience strong, sustained economic growth over the next decade. a. Using the loanable...
-
Using half-angle substitution, if we let z = tan z, the f dx 1+sin x+cos X in terms of z, is equivalent to A. Sdz 1+22 B. S dz c.S 1+z D. Sd 2+z2
-
During the year land was revalued and the surplus reported as Revaluation surplus; and an asset costing 80,000, written down to 38,000, was sold for 40,000. Identify the cost of any non-current...
-
The reaction A B is carried out in a differential packed-bed reactor at different temperatures, flow rates, and particle sizes. The results shown in Figure P15-3B were obtained. Reaction rates in a...
-
Pick two critical thinking questions and describe why they are the most important questions to ask.
-
The liquid-phase, dimer-quadmer series addition reaction 4 A 2A2 A4 can be written as 2AA2r1A=k1ACA2HRx1A=32.5kcalmol A2A2A4r2A2=k2A2CA22HRx2A2=27.5kcalmol A2 and is carried out in a 10-dm 3 PFR....
-
At the instant shown in Figure 32. 40 , the potential difference across the capacitor is half its maximum value and the charge on the plates is increasing. Draw the direction of the current and...
-
The research laboratory you work in is less than a block away from the transmitting antenna of a radio station that broadcasts at \(1100 \mathrm{kHz}\). You notice that every piece of equipment in...
-
Is there any current in a diode connected as shown in Figure 32. 42? Data from Figure 32. 42 SiO 11-type p-type aluminum
Study smarter with the SolutionInn App