L L L L + L L 03 02 04 I Os , Of 20 45° TL {0} Хо yo 2b {b} L 06 УЫ Xb Figure 2: An RRPRRR spatial open chain
3 Forward Kinematics (35) (a) (5) Determine the end-effector zero position configuration M. (b) (10) Determine the space-frame screw axes S1, ..., S6 E R™ for the given robot. (c) (10) Determine the body-frame screw axes B1, ..., B6 € Rø for the given robot. (d) (10) Calculate the end-effector frame {b} expressed in the fixed frame {s}, T3b E SE(3), when 0 = [0, -, L, 5, -7, 7) ' 2'
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