Question

Electrical Engineering Robotics: Algorithm/Control Problem

A robot manipulator is used to assemble a car headlight. Tasks for the manipulator are described in a fixed frame A. A frame B is attached to the robot end-effector. The current configuration of the end-effector is described by the rigid-body transformation 0.560620-0.303214 0.770562 2.587600 0.786016 0.487644 -0.379977 2.861610 0.260546 0.818697 0.511714 1.998900 (a) Consider a twist described in the frame B by T,[5 -1 -3 2 1 4.Find the description of this twist in the fra me A (b) Assume the robot is asked to exert a wrench which is described in the frame B by lescription of this wrench in the frame 1-3-4-2 î -1-5 ]. Find the description of th

Answer 1

Grve n 0.5606 20- o 0.4 08 ‘ 8697 -o 26054 6 escIbe I, of this tuist the fae A 요 ; Ghesne a"O matniz It- boneak taist foreme mat.nix in two Column matnix bo Smelifi the cuaton

0.5 6062 o o 303214 -0.3 ר9977 0 148 7644 0-81 867 6.18 60i 6 0.511가4 19890o 5 Ο '5606 2。 0.33214 о.7TO56 a 3.382228 0-186s16 048G4u -6,2 60 54 o 8 1 869 i. 65 7661 d560 62 0 -o. 3032ί4 0.770562 3.38222s o 96054 6 08 (86970-5i4 O ot -65 766

、282502 8 3745. -o.260546 0.81 86970.51冂i4 0.68679
Note:Due to insufficient time i couldn't solve b bit.If you want to answer for b bit.Please post it separately.I will answer them.Thank you.