DAA 2105 Lecture Notes - Lecture 5: Fanuc, Jacobian Matrix And Determinant, Osat
Document Summary
Fanuc sr-3 a cobot am comes under soara -robot 22 et constitutes of 3-rotory point with one prismatic jount, so hay y. dof. So for fanuc - robot we have . K2 - k cose, gitk) coro, tu2-2891tk) n wie, 4, (23+x2+2016+k32 ) cose, - 2. 0, tk) 9c058, + m2zo b 2 a a costa b coset oc=0 which is a quadratic equation in terms of wsco. , whose solutions are. B iv 32 mac & o cost so for single value of 24 a those well be two values of o. A simelor solution will be obtenned by taking equation (2) as well. you can give et tory. Oy = $ qut ) jacobian matrix. Differenticting equation (1) & (2) & (3) , with respeed to time. A, singo a sin(a+h) l t) = 9, essa i tacos cotoh) coto) & cn -a, sino, o az(sind, toh), oi de s@ sirl@1tqy.
