Q3) For the Fig. Q3 shown below: 1- Assign the coordinate frames base on D-H representation. 2- Fill out the parameters table. 3- Write all the T matrices. 4- Write 9T in terms of T matrices.

Elements Of Electromagnetics
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ISBN:9780190698614
Author:Sadiku, Matthew N. O.
Publisher:Sadiku, Matthew N. O.
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Q3) For the Fig. Q3 shown below:
1- Assign the coordinate frames base on D-H representation.
2- Fill out the parameters table.
3- Write all the T matrices.
4- Write 9T in terms of T matrices.
d2
Fig.Q3
Given:
The general form of the Forward Kinematics (Link Transformation matrix):
0.
-s6;
s0;ca;-1 c0,ca;-1 -sa;-1 -SC;-1di.
ca;-1
ce;
ai-1
i-lT =
s0; sa;–1 c0;sa;–1 ca-1
ca;-1d;
Transcribed Image Text:Q3) For the Fig. Q3 shown below: 1- Assign the coordinate frames base on D-H representation. 2- Fill out the parameters table. 3- Write all the T matrices. 4- Write 9T in terms of T matrices. d2 Fig.Q3 Given: The general form of the Forward Kinematics (Link Transformation matrix): 0. -s6; s0;ca;-1 c0,ca;-1 -sa;-1 -SC;-1di. ca;-1 ce; ai-1 i-lT = s0; sa;–1 c0;sa;–1 ca-1 ca;-1d;
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