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2 ˙
θ2 ˙
θ1 ˙
θ3
z
0 −θ2 1 Ψ0 2 y −θ3
3 z x x θ1 Ψ3
y Figure 3: Robotic mechanism with three links of length 1, three link angles θi , and angular velocities
˙
θi .
ﬁgure. Two coordinate frames are deﬁned: Ψ0 is attached to the base, Ψ3 is attached to the end of
the third link.
(a) Prove (by inspection) that the rigidbody transformation from Ψ0 to Ψ3 is given by cos(θ1 + θ2 + θ3 ) − sin(θ1 + θ2 + θ3 ) 0 − sin(θ1 ) − sin(θ1 + θ2 ) − sin(θ1 + θ2 + θ3 ) sin(θ1 + θ2 + θ3 ) cos(θ1 + θ2 + θ3 ) 0 cos(θ1 ) + cos(...
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 Fall '13
 RuzenaBajcsy

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