00:01
Hello students, in this question we have to calculate the joint variables of the robot and specify which quadrant they are in.
00:08
The joint variables of cylindrical robot are the radius r and the height h of the end effector.
00:48
So, the position of the end effector in the hand frame of the robot is given by the following transformation matrix that is t equals cos q minus sin q 0 0 sin q cos q 0 0 0 0 1 h 0 0 0 1.
01:25
So, this is the position of the end effector in the hand frame of the robot is given by this transformation matrix.
01:33
So, here the q, q is the angle of rotation about z axis, q is the angle of rotation, angle of rotation about z axis.
01:53
Now, to place the origin of, to place the origin of hand frame at 4 minus 3 7 t, we need to set the translation components of t equal to 4 minus 3 7 t...