Question

Can you solve this question for me?

Link1=0.5

Link2=0.5

Link3=0.55

Link4=0.07

Deliverables: ReportDemonstration of the simulation For a 6 DOF industrial manipulator, which consists of a spherical wrist on top of an antropomorphic robot as shown in the figure 1. Draw the robot, place the coordinate axes of the robot and fill its Denavit elro wrist centre 45 Hartenberg variables table Find the homogenous matrix of the robot for its forward kinematics solution. Find the equations of the joint variables by performing the inverse kinematic 2. 2s 3. solution of the robot. 4. Form the Jacobian matrix of the robot. 42 5. 91 Form the dynamical equations of the robot using both Euler-Lagrange and Newton-Euler methods 6. Install Matlab with Simulink, Simscape and SimMechanics options (or you can use some other simulation environment with visualization tool). Then form your own robot with its oo (origin of its coordinate system #0) on the coordinate (0,0,0) in the inertial frame. Simulate a horizontal rectangular welding pattern moving the tip of the robot between points (0.5, 0.7,0.6), (-0.5, 0.7, 0.6), (-0.5, 0.5, 0.6) and (0.5, 0.5,0.6) with the tip approaching the rectangle from the top outside perpendicular to the direction of motion and with 45° inclination approach angle wrt. the vertical plane

Answer 1