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
2) Given a point [x, y, z] within the workspace. Find θ1, θ2 formulas. Write them down in a paper.
3) Write a program to calculate these two angles for all given [x, y, z] with respect to frame 0.
PowerPoint Presentation PYTHON LAB PROJECT: SPHERICAL MANIPULATOR (2 DOF) MODELING DR. ERIC CHOU IEEE SENIOR MEMBER Introduction to Robotics Manipulation and Programming Unit 2: Kinematics 2 DOF Spherical Robot Arm Modeling Inverse Kinematics a1 a2 a3 θ1 θ2 Problem: 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 2) Given a point [x, y, z] within the workspace. Find θ1, θ2 formulas. Write them down in a paper. 3) Write a program to calculate these two angles for all given [x, y, z] with respect to frame 0.