Derive the Solutions of Inverse ldnematics - IT Assignment Help

Assignment Task:

Task:

Question 4 110 Marks] a. [6 Marks] For the Robot in Figure 3, the forward kinematics are shown below. Derive the solutions of inverse ldnematics (0, d2 83) of the end effector, .pEE, in analytical form Identify how ma, valid solutions there are in total. 
P = = 4341: :141 LL:SC: :42 41 1 + L3c3 
b. [I Marks] What is a practical use of inverse kinematics, c. [2 Mark] Given the point °pEE = [-0.2475 —0.2475 0.5964]' in meters, determine the numerical values for the joints for the robot to reach this position, where, = 0.25 m, = 0.05 m, L2 = 0.3 m, L3 = 0.4 m, d. [I Mark] Which solution(s) would you use for the physical robot and why, 

X. 
Figure 3: Spatial RPR Robot 
 

Question 3 110 Marks] a. [3 Maths] For the robot in Figure 2, draw the attached frames to the links according to the Denavit-Hartenberg (DH) notations. You can draw the frames on this figure either electronically. or manually. Make sure the drawing of the robot with the attached frames is submitted with the answer. b. [3 Marlcs] Create the DH table for this robot according to the frames. Indicate the actuated variables. Do not include any offset angles. c. [1 Marks] For frames with a P or R joint, what does the Z-axis represent in DH notation? d. [2 Marks] Derive the transformation matrix, ?T, 1T, 3T and sir e. [1 Marks] Given 1,2 = 0.25m, L2 = L3 = 0.35m, a = a2 = 0.05m, 05=rad,92=rad, and 03 = 5rad , What is the numerical value of T? 

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