Consider the manipulator with DH parameters below i ai di αi 1 a1 d1 0 2...
Consider the manipulator with DH parameters below
i ai di αi
1 a1 d1 0
2 0 0 π/2
3 a3 0 −π/2
Draw the mechanism in its zero-angle position. Label all zi and xi axes, and non-zero length parameters.
Given the position 0d03 of the last frame with respect to the base frame, find the joint angles. Make sure to identify multiple solutions.
Homework Answers
please give the position of the end effector clearly to solve the problem correctly.
Add Answer to:
Consider the manipulator with DH parameters below
i ai di αi
1 a1 d1 0
2...
Problem 1: Consider the two-link planar elbow manipulator shown below with link information: a1-1, a2 2 92 |Link l a, lai la, 1 6, 1 lai | 0 | 0|0; variable re 0.7 (a) Suppose that the manipulato...
Problem 1: Consider the two-link planar elbow manipulator shown below with link information: a1-1, a2 2 92 |Link l a, lai la, 1 6, 1 lai | 0 | 0|0; variable re 0.7 (a) Suppose that the manipulator needs to reach Po- 1.5.Compute the all possible sets of solutions of Computetheallpossib aanipulatorneedstoreachpo the joint variables. (b) For each set of solutions you computed in (a), sketch the robot's configuration to verify that the end-effector does reach the specified location.
Problem...
MATLAB EXERCISE4 This exercise focuses on the inverse-pose kinematics solution for the planar 3-DOF 3R robot...
MATLAB EXERCISE4 This exercise focuses on the inverse-pose kinematics solution for the planar 3-DOF 3R robot (see Figures 3.6 and 3.7; the DH parameters are given in Figure 3.8). The following fixed-length parameters are given: L-4, L-3, and L3 2(m). a) Analytically derive, by hand, the inverse-pose solution for this robot: Given QT calculate all possible multiple solutions for (01 62 63]. (Three methods are pre- sented in the text-choose one of these.) Hint: To simplify the equations, first cal-...
1. Consider ranking of documents using the Binary Independence Model (BIM) as shown below: RSVa-2...
1. Consider ranking of documents using the Binary Independence Model (BIM) as shown below: RSVa-2 log where O p is the probability of a term t appearing in a document relevant to the query O (1-p is the probability of a term t not appearing in a document relevant to the query O (1-u) is the probability of a term t not appearing in a document non-relevant to the Shown in Table 1 below are documents, and occurrence of terms...
Problem 1: Consider the two-link planar elbow manipulator shown below with link information: a1-1, a2 2 92 |Link l a, lai la, 1 6, 1 lai | 0 | 0|0; variable re 0.7 (a) Suppose that the manipulator needs to reach Po- 1.5.Compute the all possible sets of solutions of Computetheallpossib aanipulatorneedstoreachpo the joint variables. (b) For each set of solutions you computed in (a), sketch the robot's configuration to verify that the end-effector does reach the specified location.
Problem...
MATLAB EXERCISE4 This exercise focuses on the inverse-pose kinematics solution for the planar 3-DOF 3R robot (see Figures 3.6 and 3.7; the DH parameters are given in Figure 3.8). The following fixed-length parameters are given: L-4, L-3, and L3 2(m). a) Analytically derive, by hand, the inverse-pose solution for this robot: Given QT calculate all possible multiple solutions for (01 62 63]. (Three methods are pre- sented in the text-choose one of these.) Hint: To simplify the equations, first cal-...
1. Consider ranking of documents using the Binary Independence Model (BIM) as shown below: RSVa-2 log where O p is the probability of a term t appearing in a document relevant to the query O (1-p is the probability of a term t not appearing in a document relevant to the query O (1-u) is the probability of a term t not appearing in a document non-relevant to the Shown in Table 1 below are documents, and occurrence of terms...
Most questions answered within 3 hours.
-
Mr. and Mrs. Brown report taxable income of $130,000 in 2018. In
addition, they report the...
asked 4 minutes ago -
You capture data by having 8 people fill in 30 small dots on a
piece of...
asked 3 hours ago -
What are the z-values such that 70% of the area lies in the
middle of the...
asked 5 hours ago -
You borrow $29,500 to purchase a brand new car. The interest
rate is 6%, and the...
asked 5 hours ago -
The amount of time it takes an asteroid, whose average distance
from the Sun is 4.70...
asked 5 hours ago -
A 0.289 kg mass slides on a frictionless floor with a speed of
1.34 m/s. The...
asked 5 hours ago -
15.A box contains five red balls, three green balls, and two
yellow balls. Suppose you select...
asked 8 hours ago -
Assume you are given the following for Stackelberg industries:
Return on Assets (ROA) = 8%
Debt...
asked 7 hours ago -
an engineer proposes to use mmWave in 5G network to
increase data rate.
What are the...
asked 7 hours ago -
Explain the idea behind using SEMIJOIN in distributed
query processing.
asked 7 hours ago -
why
is context important in selecting and applying guidelines and
principles for interface design?
illustrate your...
asked 7 hours ago -
In a certain board game, a player rolls two fair six-sided dice
until the player rolls...
asked 8 hours ago