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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.

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Presentation on theme: "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."— Presentation transcript:

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


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