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Assignment II for Robot Manipulators | E C E 455, Assignments of Electrical and Electronics Engineering

Clemson UniversityElectrical and Electronics Engineering
Prof. Ian D. Walker

Material Type: Assignment; Professor: Walker; Class: ROBOT MANIPULATORS; Subject: ELECTRICAL AND COMPUTER ENGINEERING; University: Clemson University; Term: Fall 2009;

Typology: Assignments

Pre 2010

Uploaded on 11/04/2009

jcoulst
jcoulst 🇺🇸

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ECE 455/655, Fall 2009, Assignment 3 Due: in class, Tuesday 10/6/09 1, Consider the spatial three degree of freedom (RPP) cylindrical manipulator shown below. Draw the co~’ dinate axes for each link, set up the link parameter table, and derive each [H;"!] and [H/T using the Denavit-Hartenberg convention. 2. Consider the spatial six degree of freedom (PPPRRR) manipulator shown below. Draw the coordinate axes for each link, set up the link parameter table, and derive each [H'*] and [H? Jusing the Denavit-Hartenberg convention. Mark the appropriate constant parameters in your diagram. What is the direction of the unit vector y, as seen from the base frame? Bi |, NX ey LK -