Consider a two-link planar robot with l1 = l2 = 10 cm and oriented in the elbow-up position as shown in the figure below. If the tip of the robot is located at the point P(x, y) = (-4.5, -16.73), determine the values of ?1 and ?2.
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5 + 10\cos(\theta_1 - \theta_2) = -4.5 + 10\cos(\theta_1 - \theta_2)\) Show more…
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3-14. Consider the one-link planar robot shown in Figure P3.14. If l = 5 cm, sketch the position of the tip of the robot and determine the (x,y) coordinates of position P for (a) θ = 45° (b) θ = 0° (c) θ = -135° (d) θ = -90° 3-15. Repeat problem P3-14 if l = 10 in and (a) θ = 150° (b) θ = 270° (c) θ = 420° (d) θ = 90°
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