Question

Problem 3a: An RR robot has two links of length 0.75 m and 1.0 m, respectively. Assuming that the global coordinate system is defined at Ji, determine the following: (a) The coordinates of the end-effector point if the joint rotations are 35 degrees at both joints as shown in the handout. (b) Joint rotations if the end-effector is located at (1.875, 0.45).

Answer 1

(a) The coordinates of the end essector point in cru 92 & point 354 35->70° card) 20 351 1-350 0 0:55 >, (47) assuming what the globel wordinate system is at 11 cu well: (2 agow of freedom it can be draw this way Odb) Geometrically O= clockwise - ve (۱۹ م ) . 12 joint spore 01.02 world spale (xit,& TO JI world space - to communicate welon external world of veher robet. X CAU2 102 dzsinor da 13 (0,= 02=350) dasno 10,97 y Not a 2 = are (clockwise) Iz 0.75 m I3- 2 * la co2o, Iz (oada 0.75 10835 + 1 10835) 0.6143 + 0.8151 se 1050 , + Us 1902) 9 = Uq6th - Irina) Y = 0.15 & 350 – 18.350) - (-0.5735) 0.5735) 0.4301 9 = 0.001 - 1.0036 1.4334 (29) ₂ (1.4334, 1.0036)

b) Giren and effedor دہا، رک87 ۱۰ ) 2يو = ۶ة 2. 2 هه واو= اين % ارى (ه) ول +22) + رده (گل) - ) دل دلع +دف کرد + و + نه وه + = 2 و+ 2. 2 leidz 10dd2 = x²+4²_ de ²-d3² a²+ yr – de 2 وید را 2 نرد00) - (002)+ ردا 108 ) - وی که ) 2800 SX1 - ک 62کہ ۔ ک 262 = 6 + 6 کاک -3 rodo, 2x0، 72 x 5 - 02