Day 8.2 - i measured about x i i z ˆ 1 ˆ i z(out of page...

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Step 2: Establish frame {0} 1/25/2012 7 place the origin o 0 anywhere on z 0 often the choice of location is obvious choose x 0 and y 0 so that {0} is right-handed often the choice of directions is obvious
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Step 2: Establish frame {0} 1/25/2012 8
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Step 3: Iteratively construct {1} , {2} , ... { n -1} 1/25/2012 9 using frame { i -1} construct frame { i } DH1: x i is perpendicular to z i-1 DH2: x i intersects z i-1 3 cases to consider depending on the relationship between z i-1 and z i
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Step 3: Iteratively construct {1} , {2} , ... { n -1} 1/25/2012 10 Case 1 z i-1 and z i are not coplanar (skew) i angle from z i-1 to z i
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Unformatted text preview: i measured about x i i z ˆ 1 ˆ i z (out of page) shortest line between and 1 ˆ i z i z ˆ i x ˆ i o point of intersection i a Step 3: Iteratively construct {1} , {2} , . .. { n-1} 1/25/2012 11 Case 2 z i-1 and z i are parallel ( i = 0 ) notice that this choice results in d i = 0 i z ˆ 1 ˆ i z i x ˆ i o point of intersection 1 i o i a Step 3: Iteratively construct {1} , {2} , . .. { n-1} 1/25/2012 12 Case 3 z i-1 and z i intersect ( a i = 0 ) i z ˆ 1 ˆ i z i x ˆ i o point of intersection (out of page)...
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