1. Engineering
  2. Mechanical Engineering
  3. problem 3 derive the complete set of forward kinematics equations...

Question: problem 3 derive the complete set of forward kinematics equations...

Question details

Problem 3: Derive the complete set of forward kinematics equations for the center of the wrist as represented by the transform T for the PUMA 260 6-DOF manipulator shown in the figure Establish the appropriate DH coordinate frames, construct a table of DH parameters, form the A matrices and take the product to form the homogenous transformation QT. Use the frames shown and data filled in the DH Parameters table to establish the correct set of frames. Axis 1 Axis 2 Axis 3 Axis 6 8 in In 13 in Axis 5X Axis 4 DH Parameters: 83 +90° -90°

Solution by an expert tutor
Blurred Solution
This question has been solved
Subscribe to see this solution