Inverse-Manipulator-Kinematics

7 pp 117 121 which uses puma 560 robot principle 1

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Unformatted text preview: the text (Section 4.7, pp. 117-121) 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.

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