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Construct necessary transformation matrices using the given D-H parameters and derive its forward kinematic equations This is the format: D-H PARAMETERS 1 Link i 1
Construct necessary transformation matrices using the given D-H parameters and derive its forward kinematic equations
This is the format:
D-H PARAMETERS 1 Link i 1 2 3 4 5 6 3 +90 4 +180 s +180 di 0 0 0 330 0 76 ai 0 305 0 0 0 0 Oli 90 0 90 90 90 0 "= A Rot(z, o Pn+1) * Trans(0, 0, dn+1) Trans(a +1, 0, 0) * Rot(x, a n+1) n+1 n+1 C0.1+1 - 50,+1 0 0 1 0 0 0 1 0 0 0,1+1 1 0 0 0 ,1+1 CO.+1 0 0 0 1 0 0 0 1 0 0 0 Can+1 - San+1 0 0 0 1 0 0 0 1 dntl 0 0 1 0 0 Sa+1 Cant1 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1 D-H PARAMETERS 1 Link i 1 2 3 4 5 6 3 +90 4 +180 s +180 di 0 0 0 330 0 76 ai 0 305 0 0 0 0 Oli 90 0 90 90 90 0 "= A Rot(z, o Pn+1) * Trans(0, 0, dn+1) Trans(a +1, 0, 0) * Rot(x, a n+1) n+1 n+1 C0.1+1 - 50,+1 0 0 1 0 0 0 1 0 0 0,1+1 1 0 0 0 ,1+1 CO.+1 0 0 0 1 0 0 0 1 0 0 0 Can+1 - San+1 0 0 0 1 0 0 0 1 dntl 0 0 1 0 0 Sa+1 Cant1 0 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1
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