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Unformatted text preview: the text (Section 4.7, pp. 117121) which uses PUMA
560 robot •
• Principle #1: Separate out the dependence on the joint angles between
the right and left sides of the equation
Principle #2: If two equations involved 2 joint angles which are about
consecutive parallel axes, then square and add the equations to solve
for the angles. Principle #1: Separate out the dependence on the joint angles
between the right and left sides of the equation =
1 0
0 0
0 0
0
1
0 0
0
0
1 3.24
16.69
1.44
1 0 12.8
2.5
0
0
1
0
=
0
12.8
1
1
0 0 0 • From the above you can solve for 1 :
, 1.44 3.24
16.69
1.44
1 • Other two equations
2.5
3.24 3.24
16.69 16.69
12.8 Use Principle #2 to solve for 2 and 3 . +12.8...
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This document was uploaded on 01/20/2014.
 Fall '13

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