Z y. Figure .1. UR5 industrial robot mounted on a rail. Your company has decided to mount a UR5 robot (Figure 1), instal

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Z Y Figure 1 Ur5 Industrial Robot Mounted On A Rail Your Company Has Decided To Mount A Ur5 Robot Figure 1 Instal 1 (80.91 KiB) Viewed 38 times

it is Prismatic Revolute joint. only 2 joint
find the DH table for the robot
Z y. Figure .1. UR5 industrial robot mounted on a rail. Your company has decided to mount a UR5 robot (Figure 1), install a mill as the end-effector, and use it to carve a sinusoidal line on wood plates mounted in the horizontal plane. To this goal, all joints of the UR5, except of the first one, have been locked at 0 degrees so that this robot reduces to a planar, two-link robotic arm comprised of a prismatic joint (the motor moving the UR5 on the rail) and a revolute joint (the first joint of the robot); see Figure [2] for a schematic representation. Y₁ X Figure .2. Schematic representation of a UR5 robot mounted on a rail and whose joints are all locked, except for the first one. کچھ 8