Consider that we have a 3-R robot as shown in the figure below. The lengths of the linksare: 11-12-13=2. The position and posture of the tool's center point is Pt (x₁, y₁, α), thedriving variables are 01, 02, 03, and the output variables are v,v,, w.. (It is in theinitial position)yo1₁Y₁0₁Y₂1202X1-X2V313P₁X3aXo 3.1 The base coordinate of robot is xo-yo-zo, the tool coordinate is x-y-z. Based on thecoordinate systems shown on the figure. Please complete the D-H table of this robot.i-¹Alink123=ai[cos(0₁)sin (₁)00di3.2 Please get both analytical and numerical solutions for the forward kinematicsequation of the robot, where 0₁ 0₂ 03 = 30°di-cos (α;) sin(0₁)cos(a) cos(0₁)sin(ai)00₁sin(a;) sin(0₁)-sin(a)cos (0₁)cos(α₁)0aicos (0₁)]a¡sin (0₁)di1

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Consider that we have a 3-R robot as shown in the figure below. The lengths of the links are: 11-12-13=2. The position and posture of the tool's center point is Pt (x, y, a), the driving variables are 01, 02, 03, and the output variables are v,v,, w.. (It is in the initial position)

Consider that we have a 3-R robot as shown in the figure below. The lengths of the links are: 11-12-13=2. The position and posture of the tool's center point is Pt (x, y, a), the driving variables are 01, 02, 03, and the output variables are v,v,, w.. (It is in the initial position)

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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