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For a three-link cylindrical manipulator, derive the Jacobian with respect to base Coordinate frame (Paul's method) and with respect to the reference frame (veetor cross produet method Link 0 -90 0 Question 2 Given a coordinate frame 0 -10 2 T=1-1 0 0 10 different What is the differential transformation dA correspon +11+2k and rotation δ made with respect 0.11+0j+0k Given: sin α, sin Qa, cosQI -cosa, sint, cost) sin o cosa, coso sin a, cost a, sin 6 sin a, cos a Question For a three-link cylindrical manipulator, derive the Jacobian with respect to base Coordinate frame (Paul's method) and with respeet to the reference frame (vector cross product method) Link 0 0 0 .90 0 0 Question 2 Given a coordinate frame 10 2 T- -1 0 010 What is the differential transformation dA corresponding to a differenti translation d 0i + lj + 2k and rotation δ 0. li + 0j + 0k made with respect t Given: cose cos a, sinO sin a, sino a, cose sing cos a cosQ -sina,cosa asin θ cosa, d sin a,

Answer 1

2. d2 an