Download presentation
Presentation is loading. Please wait.
Published bySinikka Sala Modified over 5 years ago
1
PROBLEM SET 4 1. Derive all the transformation matrices between frames from the given D-H table for the robot shown below. Find the overall transformation matrix. Y0, Y1 X0, X1 Z0, Z1 Z2 X2 Y2 Z3 X3 Y3 A B C P
2
(2=-0° at home position) (3=-0° at home position)
PROBLEM SET 4 Link i Twist i Link length ai Link offset di Joint angle i i=0 … i=1 90° A 1 (1=0° at home position) i=2 B 2 (2=-0° at home position) i=3 3 (3=-0° at home position)
3
PROBLEM SET 4 2. For the robot given in question 1, what is the position of point “P” after each link has turned an angle of 30°? (I.e. 1=2=3=30°). The robot links have length A=3, B=2 and C=1 respectively. Explain how would find the velocity and acceleration of point “P”.
4
PROBLEM 1 Tabulation of Transformation Matrices from the D-H table
5
PROBLEM 1 Tabulation of Transformation Matrices from the D-H table
6
PROBLEM 1 Forward Kinematics
7
PROBLEM 2
8
PROBLEM 2 But
9
PROBLEM 2 where
10
PROBLEM 2
Similar presentations
© 2025 SlidePlayer.com Inc.
All rights reserved.