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Task 3: Find the homogenous transform matrixes and derive the forward kinematic relationship for the 3-DOF PUMA robot by multiplying them (in MATLAB): $T_{base}^{tool} = T_0^1 T_1^2 T_2^3$ D-H parameters are: # alpha a theta d 1 -pi/2 0 x1 0.4 2 0 0.4 x2 0 3 0 0.4 x3 0 d1=a2=a3= 0.4 You can use the below command in MATLAB for symbolic calculation: syms x1 x2 x3 % joint variables $T = \begin{bmatrix} c\theta_i & -ca_i s\theta_i & sa_i s\theta_i & a_i c\theta_i \\ s\theta_i & c\theta_i ca_i & -sa_i c\theta_i & a_i s\theta_i \\ 0 & sa_i & ca_i & d_i \\ 0 & 0 & 0 & 1 \end{bmatrix}$

          Task 3:
Find the homogenous transform matrixes and derive the
forward kinematic relationship for the 3-DOF PUMA robot by
multiplying them (in MATLAB):
$T_{base}^{tool} = T_0^1 T_1^2 T_2^3$
D-H parameters are:
# alpha a theta d
1 -pi/2 0 x1 0.4
2 0 0.4 x2 0
3 0 0.4 x3 0
d1=a2=a3= 0.4
You can use the below command in MATLAB
for symbolic calculation:
syms x1 x2 x3 % joint variables
$T = \begin{bmatrix}
c\theta_i & -ca_i s\theta_i & sa_i s\theta_i & a_i c\theta_i \\
s\theta_i & c\theta_i ca_i & -sa_i c\theta_i & a_i s\theta_i \\
0 & sa_i & ca_i & d_i \\
0 & 0 & 0 & 1
\end{bmatrix}$

task 3 find the homogenous transform matrixes and derive the forward kinematic relationship for the 3 dof puma robot by multiplying them in matlab tbasetool t01 t12 t23 d h parameters ar 89815

Added by Nicholas P.

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