7. For the following SCARA-type robot: • Assign the coordinate frames based on the D-H representation. • Fill out the parameters table. • Write all the A matrices. • Write the UTH matrix in terms of the A matrices.

7. For the following SCARA-type robot: • Assign the coordinate frames based on the D-H representation. • Fill out the parameters table. • Write all the A matrices. • Write the UTH matrix in terms of the A matrices.

Elements Of Electromagnetics

7th Edition

ISBN:9780190698614

Author:Sadiku, Matthew N. O.

Publisher:Sadiku, Matthew N. O.

ChapterMA: Math Assessment

Section: Chapter Questions

Problem 1.1MA

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7. For the following SCARA-type robot:
• Assign the coordinate frames based on the D-H representation.
• Fill out the parameters table.
• Write all the A matrices.
• Write the UTH matrix in terms of the A matrices.
x2
Parameter Table
#
0-1
1-2
2-H
SN
0
d
Z₁
X₂
Zo
a
d₂
α

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