direct kinematics of robotic manipulator
TRANSCRIPT
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Dr. S. Sanyal, Mech. Engg. Dept., NIT Raipur
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FK Model of 6 DOF PUMA Robot
X0
Z0
Y0
Z1
Y1
X1
X2
Y2
Z2
X3
Y3
Z3
X4
Y4
Z4
J1
J2 J3
J4 J7J5J6
X5
Y5Z5
X6
Z6
Y6
About/along z About/along x
Joints i-1Ti d a
0 to 10
T1 0 900
0 -900
1 to 2 1T2 d2 0 a2 0
2 to 3 2T3 -d3 -900 a3 -900
3 to 4 3T4 d4 1800 0 -900
4 to 5 4T5 0 0 0 900
5 to 6 5T6 d6 0 0 0
d2
a2
a3
d3
d4 d6
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FK Model of 6 DOF Robotic Manipulator
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About/along z About/along x
Joints i-1Ti d a
0 to 1 0T1 0 0 900
1 to 2 1T2 0 a2 0
2 to 3 2T3 0 a3 00
3 to 4 3T4 0 a4 -900
4 to 5 4T5 0 0 900
5 to 6 5T6 0 0 0
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About/along z About/along x
Joints i-1Ti d a
0 to 1 0T1 0 0 900
1 to 2 1T2 0 a2 0
2 to 3 2T3 0 a3 00
3 to 4 3T4 0 a4 -900
4 to 5 4T5 0 0 900
5 to 6 5T6 0 0 0
0T1
C1 0 S1 0
S1 0 -C1 0
0 1 0 00 0 0 1
1T2
C2 -S2 0 C2a2
S2 C2 0 S2a2
0 0 1 00 0 0 1
2T3
C3 -S3 0 C3a3
S3 C3 0 S3a3
0 0 1 0
0 0 0 1
3
T4C4 0 -S4 C4a4
S4 0 C4 S4a4
0 -1 0 0
0 0 0 1
4
T5C5 0 S5 0
S5 0 -C5 0
0 1 0 0
0 0 0 1
5T6
C6 -S6 0 0
S6 C6 0 0
0 0 1 0
0 0 0 1
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FK Model of Stanford Arm
About/along z About/along x
Joints i-1Ti
d
a
0 to 1 0T1 0 1 0 -900
1 to 2 1T2 0 2 0 90
2 to 3 2T3 0 0 0 00
3 to 4 3T4 0 4 0 -900
4 to 54
T5 0 5 0 900
5 to 6 5T6 0 6 0 0