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Unformatted text preview: θ1 + θ2 ) + cos(θ1 + θ2 + θ3 ) g03 = 0
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(b) Write down coordinate expressions in Ψ0 for the twists of the ﬁrst two joints, that is, write down
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expressions for V01 and V12 as functions of the joint angles θi and angular velocities θi .
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(c) Write down a coordinate expression for V23 , the relative twist of link 3 and 2 expressed in Ψ3 , as a
function of the joint angles and angular velocities. (d) We can transform coordinates of a twist between two frames using the Adjoint operator, which is
deﬁned as
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This note was uploaded on 10/09/2013 for the course EE 125 taught by Professor Ruzenabajcsy during the Fall '13 term at University of California, Berkeley.
 Fall '13
 RuzenaBajcsy

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