Question

SECTION B QUESTION 1 a) Given the arm matrix and the kinematics parameters of Spherical ARM robot as in Table Q1, calculate the manipulator Jacobian matrix. Ci 0 S1 0 1 0 S1 0 [-S2 0 C2 0 1 0 0 0 1 0 0 L0 0 0 1 Table Q1 From Link Var 0-1 1 01 θ2+90 | 0 | 0 | 90 | 0 | 1 | -S2 | C2 1-2 2 2-n 3 0°
plz give me the answer with clear handwriting

Answer 1

Jacobian of spherical Manipulator (RRP C2 S2 0 C2 S2 S o -C O s2 Angular- Velocity Tart For Prismatic joint J For revolute joint , J9, R,舒 2n4 joint -Revolute : Jns2 RI Si O -C jant Pis mathc O Ci O O o

Linear velocity part Jys R. For prismatic joint For revolute Joint : × [On-on] Jyi-R,1., 1st Joint-revolute : [On-Oi] oRo絽3x Jys → On-Oo 02 Co 0 Jv 2nd Joint Revolute .: Jy2 = R. xTon-01 0 Si d3 3rd Joint Prismatic. : Tig: Re81 CiC2 C2si S2 o o S2 0 S 2.

.. Jacobian matrix for robot CJv] o o S2 0 O oCi 6x3