# Day 9.3 - Step 5: DH Parameters Link 4 5 6 ai 0 0 0 i -90...

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Unformatted text preview: Step 5: DH Parameters Link 4 5 6 ai 0 0 0 i -90 90 0 di 0 0 d6 i 4* 5* 6* * joint variable 13 1/25/2012 Step 6: Compute the transformation c4 c5c6 - s4 s6 - c4c5 s6 - s4c6 c4 s5 c4 s5 d 6 s c c + c s - s c s + c c s s s s d 4 5 6 4 6 4 5 4 5 6 4 T 3 = T 3T 5T 5 = 4 5 6 4 6 6 4 6 - s5c6 s5 s6 c5 c5 d 6 0 0 0 1 14 1/25/2012 RPP + Spherical Wrist 15 1/25/2012 RPP + Spherical Wrist r11 r12 r13 d x r r r d 0 T 0 = T 3T 3 = 21 22 23 y 6 6 r31 r32 r33 d z 0 0 0 1 r11 = c1c4c5c6 - c1s4 s6 + s1s5c6 d z = - s4 s5 d 6 + d1 + d 2 16 1/25/2012 Stanford Manipulator + Spherical Wrist Link 1 2 3 4 5 6 ai 0 0 0 0 0 0 i -90 90 0 -90 90 0 di 0 d2 d3* 0 0 d6 i 1* 2* 0 4* 5* 6* * joint variable 17 1/25/2012 SCARA + 1DOF Wrist Link 1 2 3 4 18 ai a1 a2 0 0 i 0 180 0 0 di d1 0 d3* d4 i 1* 2* 0 4* * joint variable 1/25/2012 ...
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## This note was uploaded on 02/13/2012 for the course CSE 4421 taught by Professor Burton during the Winter '11 term at York University.

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Day 9.3 - Step 5: DH Parameters Link 4 5 6 ai 0 0 0 i -90...

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