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3.1 [15] Compute the kinematics of the planar arm from Example 3.3.
ye oC -S Oo
2 & G& 6 Oo
° ° t Oo
o 6 o \
wef O Le
3 S50, 2 ©
o Oo \ eo
ooo N 3.3 [25] The arm with three degrees of freedom shown in Fig. 3.29 is like the one in
Example 3.3, except that joint 1’s axis is not parallel to the other two. Instead,
there is a twist of 90 degrees in magnitude between axes 1 and 2, Derive link
parameters and the kinematic equations for {, 7. Note that no J, need be defined.
& &., A d: 6.
ran
\ Oo Oo O
ep
940 cL, 6 z
3 Ly Oo ®,
) -S ° ° FIGURE 3.28: The 3 nonplanar arm (Exercise 33)
Q
° Te] q e
’ o.° | °
eae | ~9 07
eT = OT OTT
B
w [22] The arm with three degrees of freedéim shown in Fig
and 2 perpendicular and joints 2 and 3 parallel. As pictured. all joints are at
their zero location. Note that the positive sense of the joint angle is indicated
Assign link frames {0} through (3) for this arm—that is, sketeh the arm, showing
the attachment of the frames. Then derive the transforgation matrices "7, 17,
and 27.
3.30 has joints 1
DWN BS [13] In Fig. rately known. Using force
contro, the robot feels around with the tool tip until it inserts it into the socket
(or Goal at location 3 7. Once in this “calibration” configuration (in which (G}
and (7) ate coinciden, the position of the robot, & 7. is figured out by reading
the joint angle sensors and computing the kinematics. Assuming £7 and §T are
‘known, give the transform equation to compute the unknown tool frame, #7
the location of the tool, #7, is not ac
af
FIGURE 3.31: Determination of the tool frame (Exercise 3.8).
Wher (6)= (7)
TT 2 ST ET
“ Tv 5G
w
T
-\ 65
werd 39 [1] For the two-link manipulator shown in Fig. 3.32(a), the link-transformation
matrices, 07 and 17, were constructed. Their product is
8,08 08498) $8, [yeh Qi = TP
. z
ap a | Siete ~s84302 ay tae
3 ch
0 00
' Lu L
‘The link-frame assignments used are indicated in Fi Po. fe
{0} is coincident with frame {1} when @ = 0. The length of the second link is ly. ne 6
Find an expression for the vector "P,,, which locates the tip of the arm relative °
1
to the {0} frame.
Tip
Ly
a
I
@ O) 3.17 [15] Show the attachment of link frames on the three-link robot shown in Fig, 3.37.