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QUESTION 2A - Write answers on paper with clear indication of which solution belongs to which question, then take a photo and upload - (15 marks) The arm matrix of a five-axis robot with tool roll motion is given below $\begin{bmatrix} -Cq_5q_5 & -Cq_4Cq_5 & Cq_5 & q_2 + 120Sq_5 \\ Sq_5q_5 & -Sq_4Cq_5 & -Sq_5 & q_3 - 120Cq_5 \\ 0 & 0 & 0 & q_4 \\ 0 & 0 & 0 & 1 \end{bmatrix}$ where $q_1, q_2, ..., q_5$ are joint variables, $q_5$ is the roll angle, and $Cq_k$ represents $COS(q_k)$ and $Sq_k$ represents $SIN(q_k)$ for $k = 1, 2, ..., 5$ (a) Derive the tool configuration vector for the robot Tool Configuration Vector:

          QUESTION 2A - Write answers on paper with clear indication of which solution
belongs to which question, then take a photo and upload - (15 marks)
The arm matrix of a five-axis robot with tool roll motion is given below
$\begin{bmatrix} -Cq_5q_5 & -Cq_4Cq_5 & Cq_5 & q_2 + 120Sq_5 \\ Sq_5q_5 & -Sq_4Cq_5 & -Sq_5 & q_3 - 120Cq_5 \\ 0 & 0 & 0 & q_4 \\ 0 & 0 & 0 & 1 \end{bmatrix}$
where $q_1, q_2, ..., q_5$ are joint variables, $q_5$ is the roll angle, and $Cq_k$ represents $COS(q_k)$ and $Sq_k$ represents
$SIN(q_k)$ for $k = 1, 2, ..., 5$
(a) Derive the tool configuration vector for the robot
Tool Configuration Vector:

QUESTION 2A - Write answers on paper with clear indication of which solution
belongs to which question, then take a photo and upload - (15 marks)
The arm matrix of a five-axis robot with tool roll motion is given below
< b m a t r i x >
where q1, q2, ..., q5 are joint variables, q5 is the roll angle, and Cqk represents COS(qk) and Sqk represents
SIN(qk) for k = 1, 2, ..., 5
(a) Derive the tool configuration vector for the robot
Tool Configuration Vector:

Added by John H.

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