Question

Problem-2: ?? ?? Tip Ltip ?? L? L? (50 Points) Figure 2: Three link RRR manipulator For the three link RRR manipulator shown in fig. 2, do following: f. Show the attachment of link frames. Attach a frame at the tip as well. g. Find the linkage (DH) parameters. h. Find the link transformation matrices. i. Make a MATLAB script to find forward kinematics that relates tip frame to base frame {0} j. Find the end-effector (tip) position with respect to frame {0} for joint variables, $\theta_1 = 90^\circ$, $\theta_2 =$ $90^\circ$, and $\theta_3 = -90^\circ$ if $L_1 = 0.25$ cm, $L_2 = 0.22$ cm and $L_{tip} = 0.15$ cm

          Problem-2:

??
??
Tip
Ltip
??
L?
L?
(50 Points)

Figure 2: Three link RRR manipulator
For the three link RRR manipulator shown in fig. 2, do following:
f. Show the attachment of link frames. Attach a frame at the tip as well.
g. Find the linkage (DH) parameters.
h. Find the link transformation matrices.
i. Make a MATLAB script to find forward kinematics that relates tip frame to base frame
{0}
j. Find the end-effector (tip) position with respect to frame {0} for joint variables, $\theta_1 = 90^\circ$, $\theta_2 =$
$90^\circ$, and $\theta_3 = -90^\circ$ if $L_1 = 0.25$ cm, $L_2 = 0.22$ cm and $L_{tip} = 0.15$ cm

Problem-2:

??
??
Tip
Ltip
??
L?
L?
(50 Points)

Figure 2: Three link RRR manipulator
For the three link RRR manipulator shown in fig. 2, do following:
f. Show the attachment of link frames. Attach a frame at the tip as well.
g. Find the linkage (DH) parameters.
h. Find the link transformation matrices.
i. Make a MATLAB script to find forward kinematics that relates tip frame to base frame
0
j. Find the end-effector (tip) position with respect to frame 0 for joint variables, θ1 = 90^∘, θ2 =
90^∘, and θ3 = -90^∘ if L1 = 0.25 cm, L2 = 0.22 cm and Ltip = 0.15 cm

Added by Matthew F.

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