1) Use Mathematical modeling to determine the workspace of this manipulator under all possible x, y, z, Given, a1, a2, and a3 are all 1.All possible θ1, θ2. Submit the mathematical description of the...

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Answered Same DayNov 17, 2022

Answer To: 1) Use Mathematical modeling to determine the workspace of this manipulator under all possible x, y,...

Baljit answered on Nov 18 2022
58 Votes
Graphical Representation of Given Manipulator is
Figure 1
1. For given manipulator
Our homogene
ous Transformation Matrix is
So
Here C=cos and S=sin
p=
Which implies
x=
y=

For the Workspace of Given Manipulator
2.
Now from Figure 1

Now Hypotenuse

Using Cosine...
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