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Solved Examples ch5

The document discusses Jacobian matrices for robotic manipulators. It provides examples of finding the Jacobian for a 3 degree of freedom manipulator written in terms of a specific frame. It also discusses the concept of isotropic points for a two-link manipulator where the Jacobian columns are orthogonal and equal in magnitude.

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Mohamed Kh
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108 views6 pages

Solved Examples ch5

The document discusses Jacobian matrices for robotic manipulators. It provides examples of finding the Jacobian for a 3 degree of freedom manipulator written in terms of a specific frame. It also discusses the concept of isotropic points for a two-link manipulator where the Jacobian columns are orthogonal and equal in magnitude.

Uploaded by

Mohamed Kh
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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5/30/2021

5.1
Repeat Example 5.4, but using the
Jacobian written in frame {0}. Are
the results the same as those of
Example 5.4?

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5.2
Find the Jacobian of the manipulator with three
degrees of freedom from Exercise 3 of Chapter 3.
Write it in terms of a frame {4} located at the tip of
the hand and having the same orientation as frame
{3}.

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i +1
vi +1 = i +i1R ( i vi + ii i Pi +1 )
i +1 =i +i1R ii + i +1 i +1Zˆ i +1
i +1

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5.8
General mechanisms sometimes have certain
configurations, called "isotropic points," where the
columns of the Jacobian become orthogonal and of
equal magnitude. For the two-link manipulator of
Example 5.3, find out if any isotropic points exist. Hint:
Is there a requirement on l1 and l2?

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