The RRRP SCARA robot of Figure 4.12 is shown in its zero position. Determine the end-effector...

  

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The RRRP SCARA robot of Figure 4.12 is shown in its zero position. Determine the end-effector zero position configuration M, the screw axes S in {0}, and the screw axes B; in {b}. For lo = l = l = 1 and the joint variable values 0 = (0, /2, -/2, 1), use both the FKinSpace and the FKinBody functions to find the end-effector configuration TE SE (3). Confirm that they agree with each other. {0} 20 l --5-00 02 l 2 Zb Xb 03 To -b {b} Figure 4.12: An RRRP SCARA robot for performing pick-and-place operations. The RRRP SCARA robot of Figure 4.12 is shown in its zero position. Determine the end-effector zero position configuration M, the screw axes S in {0}, and the screw axes B; in {b}. For lo = l = l = 1 and the joint variable values 0 = (0, /2, -/2, 1), use both the FKinSpace and the FKinBody functions to find the end-effector configuration TE SE (3). Confirm that they agree with each other. {0} 20 l --5-00 02 l 2 Zb Xb 03 To -b {b} Figure 4.12: An RRRP SCARA robot for performing pick-and-place operations.

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The question involves calculating the forward kinematics of a RRRP RevoluteRevoluteRevolutePrismatic SCARA robot using both the space frame and the body frame methods and then confirming that the resu... View the full answer