Assignment:
1) This is a re-write assignment, we have discussed this robot with a cylindrical arm and spherical wrist.Please follow the 7 steps to generate the following thing:
•Kinematic Diagram for both arm and wrist.
•The Denavit-Hartenberg table for both arm and wrist
•Create the DH-HTM matrix and the corresponding Rotational matrix R_3^0 and R_6^0
•Following the 7 steps to calculate the inverse Jacobian matrix and the corresponding path planning equations.
write them down on paper and submit it by image file or word .docx, or .pdf files.
2 )Write the Python Program for the calculation of Inverse Jacobian Matrix
submit .py or .zip file
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