C0 -S Si 0 -C C, -S2 0 aąC2 S2 C -S 0 azC3 C3 C3 1 0 1 di 0 0 1 CCC3 - CS2S -C\C2S3 - CS2S3 CC2a3 + Ciaz S,CC3- S, S2S -S,C,S3- S SC3 -C SC243 + Sa2 Szaz + di °T3 = T, 'T, T, = S,C3 +C2S3 -S2S3 + C,C3

For the 3-DOF Industrial manipulator arm as shown in Figure 1,  determine the joint displacements using inverse kinematics approach for known position and orientation of the end of the arm point.

The link transformation matrices are given by

Extracted text: C0 -S Si 0 -C C, -S2 0 aąC2 S2 C -S 0 azC3 C3 C3 1 0 1 di 0 0 1 CCC3 - CS2S -C\C2S3 - CS2S3 CC2a3 + Ciaz S,CC3- S, S2S -S,C,S3- S SC3 -C SC243 + Sa2 Szaz + di °T3 = T, 'T, T, = S,C3 +C2S3 -S2S3 + C,C3


Extracted text: 0, a3 0, a2 az 0,