Derive kinematic equations for the Yasukawa Motoman robot (see Section 3.7) that compute the position and orientation of the wrist frame directly from actuator values, rather than by first computing...

Derive kinematic equations for the Yasukawa Motoman robot (see Section 3.7) that compute the position and orientation of the wrist frame directly from actuator values, rather than by first computing the joint angles. A solution is possible that requires only 33 multiplications, two square roots, and six sine or cosine evaluations.

Sep 28, 2022

SOLUTION.PDF

Derive kinematic equations for the Yasukawa Motoman robot (see Section 3.7) that compute the position and orientation of the wrist frame directly from actuator values, rather than by first computing...

Get Answer To This Question

Related Questions & Answers

Submit New Assignment