Day 9_Part_1 - 1/25/2012 5 Link a i i d i i 1 0 0 d 1 1 * 2...

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Day 09 More Denavit-Hartenberg Examples 1/25/2012 1
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Step 5: Find the DH parameters 1/25/2012 2 Link a i α i d i θ i 1 0 0 d 1 1 * 2 0 -90 d 2 * 0 3 0 0 d 3 * 0 * joint variable
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Step 6: Compute the transformation 1/25/2012 3 once the DH parameters are known, it is easy to construct the overall transformation Link a i α i d i θ i 1 0 0 d 1 1 * 2 0 -90 d 2 * 0 3 0 0 d 3 * 0 * joint variable = = 1 0 0 0 1 0 0 0 0 0 0 1 1 1 1 1 , , , , 0 1 1 1 1 1 d c s s c R T T R T x a x d z z
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Step 6: Compute the transformation 1/25/2012 4 Link a i α i d i θ i 1 0 0 d 1 1 * 2 0 -90 d 2 * 0 3 0 0 d 3 * 0 * joint variable = = 1 0 0 0 0 1 0 0 1 0 0 0 0 0 1 2 , , , , 1 2 2 2 2 2 d R T T R T x a x d z z
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Step 6: Compute the transformation
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Unformatted text preview: 1/25/2012 5 Link a i i d i i 1 0 0 d 1 1 * 2 0 -90 d 2 * 0 3 0 0 d 3 * 0 * joint variable = = 1 1 1 1 3 , , , , 2 3 3 3 3 3 d R T T R T x a x d z z Step 6: Compute the transformation 1/25/2012 6 + = = 1 1 2 1 3 1 1 1 3 1 1 1 2 3 1 2 1 3 d d d c c s d s s c T T T T...
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Day 9_Part_1 - 1/25/2012 5 Link a i i d i i 1 0 0 d 1 1 * 2...

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