- 4 Velocity Kinematics 30 A 10 Find The Space Jacobian Jg 0 R For The Joint Configuration 0 L 7 1 (61.77 KiB) Viewed 32 times
= 4 Velocity Kinematics (30) (a) (10) Find the space Jacobian Jg(0) € RⓇ for the joint configuration () = [0, – , L, 7,
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= 4 Velocity Kinematics (30) (a) (10) Find the space Jacobian Jg(0) € RⓇ for the joint configuration () = [0, – , L, 7,
= 4 Velocity Kinematics (30) (a) (10) Find the space Jacobian Jg(0) € RⓇ for the joint configuration () = [0, – , L, 7, -1, 1)T (b) (10) Find the body Jacobian Jo(0) € RⓇ for the joint configuration 0 = [0, -2, L, 7, -1, 2] (c) (10) Suppose that the robot is in the zero configuration. Assuming static equilib- rium, what is the required joint torque T E R6 for the end-effector wrench Fo [0,0,0, 50, 50, 0]T?
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