Write a method and steps in which we derived reverse kinematic equations ?? FORWARD KINEMATICSRR ROBOTX2 = x, + L2 cos (0)J2(x2. Y2)Ja-eL3L22 = Y + L, sin (0)(x, y)(x1. Y1)X2+ L3 cos (a- 0)L1y = y2- L3 sin (a – 0)REVERSE KINEMATICSx = x+ L2 cos (0) + L, cos (a – 0)y= yı + L2 sin (0) – L, sin (a – 0)Combining the above two equation.[(x – x,)² + (y – y,)? – L; - L;cos (a)2 L L,(v – yı) (L2 + L3 cos (a)) + (x – x,) L3 sin (a)(x – x,) (L2 + L3 cos (a)) – (y – y1) Lz sin (a)tan (0) =

In the given question, Position of joint 1 = ( x1 , y1 ) Joint-1 variable = θ Position of joint 2 =…

FORWARD KINEMATICS RR ROBOT X2 = x,+ L2 cos (0) (x2. Y2) Ja-e L2 Y2 = Y + L, sin (0) (x1. y1) x = x, + L3 cos (a - 0) L1 y = y2-L3 sin (a – 0) %3D REVERSE KINEMATICS x = x1+ L2 cos (0) + L3 cos (a – 0) y = y, + L2 sin (0) – Lz sin (a – 0) i Combining the above two equation. [(x – x,)² + (v – y,)? – L - L 2LL (y - y,) (L2 + L, cos (a)) + (x – x,) Lg sin (a) (x - x,) (L2 + L3 cos (a)) – (y – y,) L, sin (a) cos (a) tan (0)

FORWARD KINEMATICS RR ROBOT X2 = x,+ L2 cos (0) (x2. Y2) Ja-e L2 Y2 = Y + L, sin (0) (x1. y1) x = x, + L3 cos (a - 0) L1 y = y2-L3 sin (a – 0) %3D REVERSE KINEMATICS x = x1+ L2 cos (0) + L3 cos (a – 0) y = y, + L2 sin (0) – Lz sin (a – 0) i Combining the above two equation. [(x – x,)² + (v – y,)? – L - L 2LL (y - y,) (L2 + L, cos (a)) + (x – x,) Lg sin (a) (x - x,) (L2 + L3 cos (a)) – (y – y,) L, sin (a) cos (a) tan (0)

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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