The mobile manipulator of Figure 2.16 consists of a 6R arm and multi-fingered hand mounted on...
Fantastic news! We've Found the answer you've been seeking!
Question:
Transcribed Image Text:
The mobile manipulator of Figure 2.16 consists of a 6R arm and multi-fingered hand mounted on a mobile base with a single wheel. You can think of the wheeled base as the same as the rolling coin in Figure 2.11 the wheel (and base) can spin together about an axis perpendicular to the ground, and the wheel rolls without slipping. The base always remains horizontal. (Left unstated are the means to keep the base horizontal and to spin the wheel and base about an axis perpendicular to the ground.) (a) Ignoring the multi-fingered hand, describe the configuration space of the mobile manipulator. (b) Now suppose that the robot hand rigidly grasps a refrigerator door handle and, with its wheel and base completely stationary, opens the door using only its arm. With the door open, how many degrees of freedom does the mechanism formed by the arm and open door have? (c) A second identical mobile manipulator comes along, and after parking its mobile base, also rigidly grasps the refrigerator door handle. How many degrees of freedom does the mechanism formed by the two arms and the open refrigerator door have? 100 Figure 2.16 Mobile manipulator. The mobile manipulator of Figure 2.16 consists of a 6R arm and multi-fingered hand mounted on a mobile base with a single wheel. You can think of the wheeled base as the same as the rolling coin in Figure 2.11 the wheel (and base) can spin together about an axis perpendicular to the ground, and the wheel rolls without slipping. The base always remains horizontal. (Left unstated are the means to keep the base horizontal and to spin the wheel and base about an axis perpendicular to the ground.) (a) Ignoring the multi-fingered hand, describe the configuration space of the mobile manipulator. (b) Now suppose that the robot hand rigidly grasps a refrigerator door handle and, with its wheel and base completely stationary, opens the door using only its arm. With the door open, how many degrees of freedom does the mechanism formed by the arm and open door have? (c) A second identical mobile manipulator comes along, and after parking its mobile base, also rigidly grasps the refrigerator door handle. How many degrees of freedom does the mechanism formed by the two arms and the open refrigerator door have? 100 Figure 2.16 Mobile manipulator.
Expert Answer:
Answer rating: 100% (QA)
This question is asking us to determine the configuration space and degrees of freedom DOF for different scenarios involving a mobile manipulator and ... View the full answer
Related Book For
Operations Management Creating Value Along the Supply Chain
ISBN: 978-0470525906
7th Edition
Authors: Roberta S. Russell, Bernard W. Taylor
Posted Date:
Students also viewed these mathematics questions
-
How many degrees of freedom does an F-curve have? What are those degrees of freedom called?
-
A propeller is rotating about an axis perpendicular to its center, as the drawing shows. The axis is parallel to the ground. An arrow is fired at the propeller, travels parallel to the axis, and...
-
A wheel is rotating about an axis perpendicular to the plane of the wheel and passing through the center of the wheel. The angular speed of the wheel is increasing at a constant rate. Point A is on...
-
. 4. Bank overdrafts repayable on * 1 point demand may be included in the cash and cash equivalent balance. True O False
-
Mountain Sports Inc. borrowed money for two years last week at 12%. The pure rate is 2%, and Mountains financial condition warrants a default risk premium of 3% and a liquidity risk premium of 2%....
-
A wind turbine with a rotor diameter of 77m produces 1.5 MW of electrical power at a wind speed of 12 m s 1 . What fraction of the kinetic energy of the air passing through the turbine is converted...
-
Verify the vector identity \[\begin{equation*}abla^{2} \boldsymbol{v}=abla(abla \cdot \boldsymbol{v})-abla \times(abla \times \boldsymbol{v}) \tag{15.83}\end{equation*}\]
-
A partnership of attorneys in the St. Louis, Missouri, area has the following balance sheet accounts as of January 1, 2013: Assets .........$320,000 Liabilities ..........$120,000 Athos, capital...
-
A stock just paid a dividend of D 0 = $1.50. The required rate of return is r s = 16.0%, and the constant growth rate is g = 4.0%. What is the current stock price?
-
a. Define "incremental cash flow." 1. Should you subtract interest expense or dividends when calculating project cash flow? 2. Suppose the firm had spent $100,000 last year to rehabilitate the...
-
Extend the LibraryCard class by adding the expiration date as a new property of a library card. Define the following four methods: //sets the expiration date public void setExpDate (...
-
Why is it important to use different types of evidence to support your arguments in academic work?
-
1. What is a basis point? 2pt 2. What is a point? 1pt 3. What are the four (4) key components to Debt? 4pt 4. What is a VC? 1pt 5. What is a "tranche" of funding? 2pt 6. What are the Three (3) F's?...
-
Suppose the time between the apparatus leaving your hand and landing on the ground was measured to be t = 4.80 s. What was the velocity of the apparatus leaving your hand?
-
Is Wuthering Heights a more romantic novel than Frankenstein? Why or why not?
-
A 1.00-km length of power line carries a total charge of 230 mC distributed uniformly over its length. Find the magnitude of the electric field 54.3 cm from the axis of the power line, and not near...
-
Bellevue Power Co. reported its capital structure as follows: - Debt: 5,000 shares outstanding with 7 percent coupon rate, 20 years to maturity, $1,000 par value, selling for 92 percent of par....
-
The Higher the time period of the financial security the higher the. ............... risk. O a. Maturity O b. Default and Maturity Oc. Default O d. Liquidity
-
What is competitiveness? How is it measured? How has the Internet affected competitiveness?
-
Define the strategic goals of supply chain management, and indicate how procurement and transportation and distribution have an impact on these goals.
-
List several alternatives for adjusting capacity. List several alternatives for managing demand.
-
Calculate the de Broglie wavelength associated with \((a)\) a \(0.14-\mathrm{kg}\) baseball thrown at \(20 \mathrm{~m} / \mathrm{s}\) and \((b)\) an electron of mass \(9.1 \times 10^{-31}...
-
Given the relationship between the energy \(E\) of a photon and its frequency \(f\) and the de Broglie expression relating momentum \(p=m v\) and wavelength \(\lambda\), determine the ratio \(E / p\)...
-
Do you expect to be able to observe the diffraction of light through \((a)\) the front door to your house; \((b)\) the holes in a button; (c) the gaps between threads of the fabric of an umbrella?
Study smarter with the SolutionInn App