Question

C Use In writing the transformation matrices use the following shorter notations sin-Sn,and cos Denavit-Hartenberg convention for assigning frames and giving the parameters frames to this wrist (as if it were a 3-DOF manipulator), b) give the link parameters, and c) the transformation matrices T, IT, and T. Note that the positive sense of the joint angle is indicated. (In writing the transformation matrices use shorter notations sino-so, cos0-C4, sin θn-Sn, and 3. Figure shows the schematic of a wrist which has three intersecting axes that are not orthogonal. a) Assign link cos en-Cn ) 삐- 0 4-1 Le 6, 02 3R nonorthogonal-axis robot

Answer 1

Link tame ainmenf 0 2