The figure below shows a three-link robot. The system has three DOFs and the joint rotations are Theta =[[ heta _(1), heta _(2), heta _(3)]]^(T). The link lengths shown in the figure are L_(1)=L_(2)=L_(3)=L_(4)=1m. The base frame is set as x_(0)Y_(0)Z_(0) in the figure. The end effector of the manipulator is located at P. Answer the following questions:
e) Determine the transformation matrix (^(i-1)(T), i=1,2,3) for each frame using the modified DH notation. (3%)
The figure below shows a three-link robot. The system has three DOFs and the joint rotations are =]. The link lengths shown in the figure are L=L=L=L=1 m. The base frame is set as X YoZo in the figure. The end effector of the manipulator is located at P. Answer the following questions:
revolute
revolute
revolute
e) Determine the transformation matrix T, i=1, 2, 3) for each frame using the modified DH notation. (3%)