Question

Q2 [5 pt]: Consider the schematics of the robot arm 3 DOF-RRR shown in Fig.2: D-H parameter is given in the table a) Develop the D-H parameter b) Develop the Ai matrices c) By visual inspection find the final transformation matrix_which maps tool frame F3 into base frame Fo Consider the home position values and physical parameter to get your final answer. d1.5 m, d 0.25 m 1.1m, 0.7m. X3 link e d a Home 90 0 90 2 3 xo Solution: Fig. 02: Schematic diagram of 3 DOF-RRR manipulator

Answer 1