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