Problem-2:
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Tip
Ltip
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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
