A two-link planar robot is shown in Fig. P4.27. (a) Calculate the position of the tip P⃗ of the planar robot using vector addi- tion (use the î and ĵ notation). (b) Determine the magnitude and direction of P⃗. (c) Repeat part (b) using the laws of sines and cosines.
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For each of the planar robots shown in Figure 1, find the forward kinematic equations using the vector-loop method. For each of the planar robots shown in Figure 1, find the forward kinematic equations using the Denavit-Hartenberg method. Find the tool position and orientation corresponding to each of the following joint configurations. (a) Figure (a): θ1 = 45°; θ2 = 60°; θ3 = 30° (b) Figure (b): θ1 = 30°; h = 5; θ2 = 45° All angles are measured from the positive sense of the x-axis. The link lengths are given by R1 = R2 = R3 = 10 units.
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