Example 5 5 Consider The Two Link Robot From Example 5 3 As It Is Moving Its End Effector Along Axis At 1 0 M S As In 1 (135.33 KiB) Viewed 20 times
Example 5.5: Consider the two-link robot from Example 5.3 as it is moving its end-effector along axis at 1.0 m/s, as in Fig. 5.10. Show that joint rates are reasonable when far from a singularity, but that, a singularity is approached at joint rates tend toward infinity. all a12 -1 = Sor any A =A ада 922 A adjoint det (A) FIGURE 5.10: 992212 2192, au. A two-link manipulator moving its tip at a constant linear velocity. 5² (0) = [-45-452 - 2₂52]] гла ста la Sia 291292 92 Cia 482 Sa 1-419-12412-415--22512/ 6-JY AC-[6] [4] 12 G12 la Sia 482 Sa 419-12412-4₁5-82 S12] X-R₁4₁-1₂²12/ Glasa ė, 8=5²V Andrewlinich sem [1
Example 5.5: Consider the two-link robot from Example 5.3 as it is moving its end-effector along axis at 1.0 m/s, as in Fig. 5.10. Show that joint rates are reasonable when far from a singularity, but that, as a singularity is approached at joint rates tend toward infinity. Ex auple 5.5 (use example 5.3) End effector 2/x = 1 M/S X K from start as ₂0 FIGURE 5.10: ė, ₂ аррrоаси A two-link manipulator moving its tip at a constant linear velocity. J 18 did 20₁ 6- [*] =out 2₂ = Out X rotated hand Versic of right hand >-]-[8] IM 23 Fout of board File
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