Consider the manipulator shown in Figure-2. The manipulator's current configuration is given by the variables h...

  

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Consider the manipulator shown in Figure-2. The manipulator's current configuration is given by the variables h (in meters), 0₁ (in rad), d₂ (in meters) and d3 (in meters). A force F = [fx fy fz] (in Newtons) expressed in world frame is applied to the tip of the end effector. Assuming all other forces (i.e. gravity, friction) are neglected, find the joint torques and forces (torque T₁ [in Nm] on joint 1 and the forces f₂ [in Newtons] and f3 [in Newtons] on joints 2 and 3) due to the applied external force F. The parameter set {h, 0₁, d₂, d3, fx, fy, fz} is given in Table-1 personalized to each student independently. d2=0.6 fz=5 h=0.4 teta1=0.8 d3=0.4 fx=1 fy=-1 d2 h ZO Yo 50₁ XO Figure-2 d3 F = fy Consider the manipulator shown in Figure-2. The manipulator's current configuration is given by the variables h (in meters), 0₁ (in rad), d₂ (in meters) and d3 (in meters). A force F = [fx fy fz] (in Newtons) expressed in world frame is applied to the tip of the end effector. Assuming all other forces (i.e. gravity, friction) are neglected, find the joint torques and forces (torque T₁ [in Nm] on joint 1 and the forces f₂ [in Newtons] and f3 [in Newtons] on joints 2 and 3) due to the applied external force F. The parameter set {h, 0₁, d₂, d3, fx, fy, fz} is given in Table-1 personalized to each student independently. d2=0.6 fz=5 h=0.4 teta1=0.8 d3=0.4 fx=1 fy=-1 d2 h ZO Yo 50₁ XO Figure-2 d3 F = fy

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Solution We need to calculate the joint torques and forces We need to use the DenavitHartenberg DH p... View the full answer