Draw the graphical representation for the three frames {B}, {CI} and {0} accordingly. Obtain the expressions for ST and BT . What is the expression of or by definition? How to express gr in terms of...

Draw the graphical representation for the three frames {B}, {CI} and {0} accordingly. Obtain the expressions for ST and BT . What is the expression of or by definition? How to express gr in terms of the transformations `07' and BT ? Calculate its numerical value in detail. What is the expression and value of the position of the center of the cube with respect to the base coordinate system? What is the expression and value of orientation of the cube with respect to the base coordinate system? What is the easy way to obtain it and why? Assume that the cube is within the arm's reach and the six-joint robot is attached to the base frame. For the frame {/} attached to the finger (gripper), its 2 f axis is always pointing out along the finger direction of the gripper; its if axis is along the common normal of the two fingers of the gripper. What is the orientation matrix ,R=B`XJ B ff a2 j for LIT , if you want the ft of the finger to be aligned (or parallel to) with the Yu axis of the object and at the same time pick up the object from the top? (How many possible solutions and why?)
Nov 19, 2021
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