(Robotics) A 4R manipulator is shown schematically in Fig. 4.16.
The nonzero link parameters are α1 = -90, d2 =1, α2 =45, d3 = 1 and
a3 = 1, and the mechanism is pictured in the configuration
corresponding to θ = [0 0 90 0]T . Each joint has limits of ±180.
Find all values of θ3 such that 4ORG 0 P = [0.0 1.0 1.414]T .
1 (42.49 KiB) Viewed 41 times
20.1 Y 0.1 --+-- ------ 23 3 24 2327150-10,0.9) 2 그림 4,160 = [0, 0, 90°, 0] 일때 4R 머니퓰레이터의 위치
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