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A 4-DOF robot arm was shown in the figure 1. For this robot: a) Find the Forward kinematics of the robot. b) Find the
A 4-DOF robot arm was shown in the figure 1. For this robot: a) Find the Forward kinematics of the robot. b) Find the Inverse kinematics of the robot. c) Find the Jacobian Matrix. Write the code in MATLAB. Parameters Values Units 0.4 m 4+ 04 12 0.1 m 13 13 0.6 m + d3 12 14 0.05 m m1 9.7 kg m2 4.864 kg 01 02 11 m3 3.153 kg Zo m4 0.178 kg D-H Parameters x0 i ai-1 ai-1 di ; 1 0 0 li 01 2 /2 12 0 02 3 -/2 0 13 + d3 0 4 0 0 0 04
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Modern Quantum Mechanics
Authors: J.J Sakurai
Revised Edition
9781108499996, 201539292, 978-0201539295
