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A five-axis articulated robot (Rhino XR-3) Figure Q2(a): Five-axis robot Figure Q2(a) shows a five-axis robot. You need to: • Complete the link coordinate diagram in Figure Q2(b) • Complete the D-H link parameter in Table Q2 Establish forward kinematic of the robot • Find the position of the tool tip of the robot when the joint variables are q = [0, – 3:0,- = , 0,-) 22 TT
Tool pitch 0.95cm Elbow 22.86cm tos 7 î Tool 85 16.83 cm 22.86cm С Shouler ys 1 1 ] T.17 1 25 0 26.04cm va Ease Figure Q2(b): Link coordinates diagram Table Q2: D-H link parameters Ꮎ a Axis d a Home 1 0 2 TT rad 2 TT 3 3 zrad 4 0 5 TT -rad