Compute the position and orientation of the tool point P from the given D-H table for the displacement variable e1=90°, e2-90° and e3=90⁰ a1= 100 mm, a2= 100mm and a3 = 50mm Note: find the position and orientation using step by step procedure Figure 3 3-DOF (Industrial manipulator arm) Joint 1 2 3 Present the roll, pitch, yaw and displacement in x, y and z axis. i-¹T₁= 0 d a 0₁ 0 a1 02 0 a2 03 0 a3 use the composite transformation matrix [CÔ se; 0 0 –SÔ CƠ, S0,SƠ, -se,ca, Co,Ca; sα; 0 α -90 0 0 a;C0 ] -CO;Sα; a,S0₂ Cα₁ d; 0

Compute the position and orientation of the tool point P from the given D-H table for the displacement variable e1=90°, e2-90° and e3=90⁰ a1= 100 mm, a2= 100mm and a3 = 50mm Note: find the position and orientation using step by step procedure Figure 3 3-DOF (Industrial manipulator arm) Joint 1 2 3 Present the roll, pitch, yaw and displacement in x, y and z axis. i-¹T₁= 0 d a 0₁ 0 a1 02 0 a2 03 0 a3 use the composite transformation matrix [CÔ se; 0 0 –SÔ CƠ, S0,SƠ, -se,ca, Co,Ca; sα; 0 α -90 0 0 a;C0 ] -CO;Sα; a,S0₂ Cα₁ d; 0

International Edition---engineering Mechanics: Statics, 4th Edition

4th Edition

ISBN:9781305501607

Author:Andrew Pytel And Jaan Kiusalaas

Publisher:Andrew Pytel And Jaan Kiusalaas

Chapter8: Centroids And Distributed Loads

Section: Chapter Questions

Problem 8.73P

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