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1. Figure (a) shows the Staubli 6R robot, with its zero configuration shown in Figure (b). Draw appropriate link reference frames, and derive the
1. Figure (a) shows the Staubli 6R robot, with its zero configuration shown in Figure (b). Draw appropriate link reference frames, and derive the Denavit-Hartenberg parameters. St TXAD ST H W H (6) 4 12 8 (a) 6R open chain robot, tx40. (b) Frame assignments in zero configuration.
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Elements Of Chemical Reaction Engineering
Authors: H. Fogler
6th Edition
013548622X, 978-0135486221
