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  3. q1 5 pt consider the schematics of the robot arm...

Question: q1 5 pt consider the schematics of the robot arm...

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Q1 [5 pt]: Consider the schematics of the robot arm 3 DOF-RRP shown in Fig.1: D-H parameter is given in the table below. a) Devolve the A matrices, b) Find the final transformation matrix which maps tool frame F3 into base frame Fo. for the c) Use the parameters numerical values to the final answer d1 1.9 Joint 2 d3 locked at 1.3 m (1 1.6)m link 0, d, a 1 d1 0 90 0 20 0 3 i Home уз Tool 1.9 m 0 -90 -90 Joint 1 63 d3 0 0 0 A, Rote Trans Trans Rot, Solution: Fig. 01: Schematic diagram of 3 DOF-RRP manipulator

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