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ARM TUTORIAL 2
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Industrial Robots A) If you have built all the other projects from the previous solu
build the projects in Column A.
Controllers B) If you haven’t built any of the previous tutorial solutions, yo
in the order shown in Column B.
Software
In arm tutorial 1, the robot was moved by setting target joint ang
and orientation of the end-of-arm nor could we move the robot
As you may noticed all robot arms in the arm tutorials have n
use the notion 'end of arm' (EOA). As the last element of the ro
manipulator is called end-effector. An end-effector has usually
called tool center point (TCP).
Joint Rotation
Fig. 2: Robot arm configuration Table1: Denavit-Hartenber
Using [14] and [15] we get the complete transformation from fra
using [9]:
influences just the orientation of the TCP, not its position. Throu
Joint angle 3
Fig.5: Joint angle 3
Joint angle 2:
As shown in Fig. 5, angle can be computed via and
matrix of :
Hence we state:
and of :
The same way we get all solution for through the elements
: = Transformation matrix
Coordinate transformation:
Orthogonality:
Coordinate system orientation:
Frames
: = Translation vector
: = Rotation matrix
: = Transformation matrix
: = Vector in frame :
: = Vector in frame :
the direction of axis until its origin matches the origin of the
:=
:=
:=
:=
: = Vector
References
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