Soumettre la recherche
Mettre en ligne
Forward kinematics robotics m tech.
•
Télécharger en tant que DOC, PDF
•
0 j'aime
•
770 vues
MAKAUT
Suivre
Signaler
Partager
Signaler
Partager
1 sur 3
Télécharger maintenant
Recommandé
1999 International Energy Agency Data
1999 International Energy Agency Data
Obama White House
Ppt tls
Ppt tls
Abhijith Chandraprabhu
TALAT Lecture 2301: Design of Members Example 8.1: Torsion constants for open...
TALAT Lecture 2301: Design of Members Example 8.1: Torsion constants for open...
CORE-Materials
Bayesian Inference on a Stochastic Volatility model Using PMCMC methods
Bayesian Inference on a Stochastic Volatility model Using PMCMC methods
paperbags
Examenolimpiada
Examenolimpiada
FedErika Glez
Discrete maths assignment
Discrete maths assignment
Keshav Somani
F2004 formulas final_v4
F2004 formulas final_v4
Abraham Prado
Chapter 2 robot kinematics
Chapter 2 robot kinematics
nguyendattdh
Recommandé
1999 International Energy Agency Data
1999 International Energy Agency Data
Obama White House
Ppt tls
Ppt tls
Abhijith Chandraprabhu
TALAT Lecture 2301: Design of Members Example 8.1: Torsion constants for open...
TALAT Lecture 2301: Design of Members Example 8.1: Torsion constants for open...
CORE-Materials
Bayesian Inference on a Stochastic Volatility model Using PMCMC methods
Bayesian Inference on a Stochastic Volatility model Using PMCMC methods
paperbags
Examenolimpiada
Examenolimpiada
FedErika Glez
Discrete maths assignment
Discrete maths assignment
Keshav Somani
F2004 formulas final_v4
F2004 formulas final_v4
Abraham Prado
Chapter 2 robot kinematics
Chapter 2 robot kinematics
nguyendattdh
Dynamic Response Analysis of Automatic Generation Control in a 2-Area (Reheat...
Dynamic Response Analysis of Automatic Generation Control in a 2-Area (Reheat...
IJMER
ว เคราะห ข_อสอบล_คก__
ว เคราะห ข_อสอบล_คก__
4821010054
Rotation3
Rotation3
hprmup
2009-2 기말고사문제(초고주파공학)
2009-2 기말고사문제(초고주파공학)
Yong Heui Cho
Chapter 9(laplace transform)
Chapter 9(laplace transform)
Eko Wijayanto
16%20 lecture
16%20 lecture
Arif Siyal
8. terapan hk1 n
8. terapan hk1 n
SMA Negeri 9 KERINCI
TU4.L09 - FOUR-COMPONENT SCATTERING POWER DECOMPOSITION WITH ROTATION OF COHE...
TU4.L09 - FOUR-COMPONENT SCATTERING POWER DECOMPOSITION WITH ROTATION OF COHE...
grssieee
TU4.L09 - FOUR-COMPONENT SCATTERING POWER DECOMPOSITION WITH ROTATION OF COHE...
TU4.L09 - FOUR-COMPONENT SCATTERING POWER DECOMPOSITION WITH ROTATION OF COHE...
grssieee
Lab1 verilog
Lab1 verilog
Mani Nellanti
Manuel m. altamirano
Manuel m. altamirano
EPMMA
Resultados de evaluacion de sector 2010-2011
Resultados de evaluacion de sector 2010-2011
EPMMA
Contenu connexe
Similaire à Forward kinematics robotics m tech.
Dynamic Response Analysis of Automatic Generation Control in a 2-Area (Reheat...
Dynamic Response Analysis of Automatic Generation Control in a 2-Area (Reheat...
IJMER
ว เคราะห ข_อสอบล_คก__
ว เคราะห ข_อสอบล_คก__
4821010054
Rotation3
Rotation3
hprmup
2009-2 기말고사문제(초고주파공학)
2009-2 기말고사문제(초고주파공학)
Yong Heui Cho
Chapter 9(laplace transform)
Chapter 9(laplace transform)
Eko Wijayanto
16%20 lecture
16%20 lecture
Arif Siyal
8. terapan hk1 n
8. terapan hk1 n
SMA Negeri 9 KERINCI
TU4.L09 - FOUR-COMPONENT SCATTERING POWER DECOMPOSITION WITH ROTATION OF COHE...
TU4.L09 - FOUR-COMPONENT SCATTERING POWER DECOMPOSITION WITH ROTATION OF COHE...
grssieee
TU4.L09 - FOUR-COMPONENT SCATTERING POWER DECOMPOSITION WITH ROTATION OF COHE...
TU4.L09 - FOUR-COMPONENT SCATTERING POWER DECOMPOSITION WITH ROTATION OF COHE...
grssieee
Lab1 verilog
Lab1 verilog
Mani Nellanti
Manuel m. altamirano
Manuel m. altamirano
EPMMA
Resultados de evaluacion de sector 2010-2011
Resultados de evaluacion de sector 2010-2011
EPMMA
Similaire à Forward kinematics robotics m tech.
(12)
Dynamic Response Analysis of Automatic Generation Control in a 2-Area (Reheat...
Dynamic Response Analysis of Automatic Generation Control in a 2-Area (Reheat...
ว เคราะห ข_อสอบล_คก__
ว เคราะห ข_อสอบล_คก__
Rotation3
Rotation3
2009-2 기말고사문제(초고주파공학)
2009-2 기말고사문제(초고주파공학)
Chapter 9(laplace transform)
Chapter 9(laplace transform)
16%20 lecture
16%20 lecture
8. terapan hk1 n
8. terapan hk1 n
TU4.L09 - FOUR-COMPONENT SCATTERING POWER DECOMPOSITION WITH ROTATION OF COHE...
TU4.L09 - FOUR-COMPONENT SCATTERING POWER DECOMPOSITION WITH ROTATION OF COHE...
TU4.L09 - FOUR-COMPONENT SCATTERING POWER DECOMPOSITION WITH ROTATION OF COHE...
TU4.L09 - FOUR-COMPONENT SCATTERING POWER DECOMPOSITION WITH ROTATION OF COHE...
Lab1 verilog
Lab1 verilog
Manuel m. altamirano
Manuel m. altamirano
Resultados de evaluacion de sector 2010-2011
Resultados de evaluacion de sector 2010-2011
Forward kinematics robotics m tech.
1.
CS 4733, Class
Notes: Forward Kinematics II 1 Stanford Manipulator - First Three Joints Figure 1: Stanford Robotic Arm. The frame diagram shows the first three joints, which are in a R-R-P configuration (Revolute-Revolute-Prismatic. joint θ d a α nnn1 θ1 d1 0 -90 2 θ2 d2 0 90 3 0 d3 0 0 4 5 6 C1 0 -S1 0 C2 0 S2 0 1 0 0 0 S1 0 C1 0 1 S2 0 -C2 0 2 0 1 0 0 T10 = T2 = T3 = 0 -1 0 d1 0 1 0 d2 0 0 1 d3 0 0 0 1 0 0 0 1 0 0 0 1 C1 C2 -S1 C1 S2 -S1 d2 C1 C2 -S1 C1 S2 C1 S2 d3 - S1 d2 S 1 C2 C1 S1 S2 C1 d 2 0 1 C2 S C1 S1 S2 S1 S 2 d3 + C 1 d 2 T20 = T3 = -S2 0 C2 d1 -S2 0 C2 C2 d3 + d1 0 0 0 1 0 0 0 1 1 0 0 0 0 1 0 d2 0 if θ1 = θ2 = 0, d3 = 0: T3 = (Zero Position) 0 0 1 d1 0 0 0 1 1
2.
2
4-DOF Gantry Robot Figure 2: Gantry Robot Arm. This arm is in a R-P-R-R configuration. θ1 , θ3 , θ4 are the revolute joint angle variables and d2 is the prismatic joint variable. d4 is a constant. joint θ d a α 1 θ1 0 0 0 2 0 d2 0 -90 3 θ3 0 0 90 4 θ4 d4 0 0 C1 -S1 0 0 1 0 0 0 S1 C1 0 0 1 0 0 1 0 A0 = A = 1 0 0 1 0 2 0 -1 0 d2 0 0 0 1 0 0 0 1 C3 0 S3 0 C4 -S4 0 0 S3 0 -C3 0 3 S4 C4 0 0 2 A3 = A = 0 1 0 0 4 0 0 1 d4 0 0 0 1 0 0 0 1 2
3.
C1 -S1 0 0 1 0 0 0 C1 0 -S1 0 S1 C1 0 0 0 0 1 0 S1 0 C1 0 A0 = 2 = 0 0 1 0 0 -1 0 d2 0 -1 0 d2 0 0 0 1 0 0 0 1 0 0 0 1 C3 0 S3 0 C4 -S4 0 0 C3 C4 -C3 S4 S3 S3 d4 S3 0 -C3 0 S4 C4 0 0 S3 C4 -S3 S4 -C3 -C3 d4 A2 = 4 = 0 1 0 0 0 0 1 d4 S4 C4 0 0 0 0 0 1 0 0 0 1 0 0 0 1 C1 0 -S1 0 C3 C 4 -C3 S4 S3 S3 d4 S1 0 C1 0 S3 C4 -S3 S4 -C3 -C3 d4 A0 = A02A24 = 4 0 -1 0 d2 S4 C4 0 0 0 0 0 1 0 0 0 1 C1 C3 C4 - S1 S4 -C1 C3 S4 - C4 S1 C1 S3 C1 S3 d4 C3 C4 S1 + C1 S4 -C3 S1 S4 + C1 C4 S1 S3 S1 S3 d4 = -S3 C4 S3 S4 C3 C 3 d4 + d 2 0 0 0 1 1 0 0 0 0 1 0 0 if θ1 = θ3 = θ4 = 0, d2 = 0: A04= 0 (Zero Position) 0 1 d4 0 0 0 1 -1 0 0 0 0 0 1 d4 if θ1 = θ3 = θ4 = 90, d2 = D: A 4= 0 0 1 0 D 0 0 0 1 3
Télécharger maintenant