Day 2.3 - y ) ? x y Forward Kinematics 1/17/2011 14 notice...

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SCARA Manipulator 1/17/2011 11 RRP Selective Compliant Articulated Robot for Assembly http://www.robots.epson.com/products/g-series.htm Common Manipulator Arrangements z 0 z 1 z 2 q 1 2 d 3
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Forward Kinematics 1/17/2011 12 given the joint variables and dimensions of the links what is the position and orientation of the end effector? Forward Kinematics q 2 1 a 1 a 2
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Forward Kinematics 1/17/2011 13 choose the base coordinate frame of the robot we want ( x, y ) to be expressed in this frame Forward Kinematics q 2 1 a 1 a 2 ( x ,
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Unformatted text preview: y ) ? x y Forward Kinematics 1/17/2011 14 notice that link 1 moves in a circle centered on the base frame origin Forward Kinematics q 2 1 a 1 a 2 ( x , y ) ? x y ( a 1 cos 1 , a 1 sin 1 ) Forward Kinematics 1/17/2011 15 choose a coordinate frame with origin located on joint 2 with the same orientation as the base frame Forward Kinematics q 2 1 a 1 a 2 ( x , y ) ? x y ( a 1 cos 1 , a 1 sin 1 ) 1 x 1 y 1...
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Day 2.3 - y ) ? x y Forward Kinematics 1/17/2011 14 notice...

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