Chapter 3 Manipulator Kinematics cq -5 0 0 5 00 oo 10 o 0 o1 CS 0 Ly GS OL % C0 0 SG 0 0 0 0 10 oo 10 oo oF oo o8 Cis Sas 0 LC) + L2Ce opipipa| Sia Cis 0 LS + L252 iat =| "yg 1 ° 0 0 0 1 where: Cras = cos(0) +02 +95) Sins = sin(6, +8) + 64) ete 32) a] 4 z 0 rr 9 | o fa | & wr | 0 | a | 180 Oo} am | de | & wo | o | o | « = | o | ol ow When ds = 0 the origins of frames 2 and 3 coin- | ie, Fram 3s dt ink 3 | d ©2005 Pearson Eaton, Ic, Upper Saco River, i Al fhe reserved, This materials protected under al copyght laws as they curently exis "No porton of his material maybe reproduced, in any form or by any means, witout permission n wing Wor the putas.32. (Continued) Ce -S 0 0 5 0° 0 tO] op Lops T=! 5, cg 0 0) ot =30eT o 0 ot HOC. SOS hS + ALCS: Siz HC SS CL HSS Ss 0G Cr 0 0 0 1 (SiCsC6+ CaS) ~SiC3Se + CACe = SiSs 0 Sie = SiS co 0 0 o 7 Ru Ra Ra Pe Ray Ra Ra Py r[ [eee ~CaCsS + SiC0) —C4Ss as ar ir [i Ra Ry Pe ra) where Ruy = —CiCaCaCsCo + C1C 28455 + SiSUCSCo + SiCaSs + C4S285S5 Riz = CiCaCICSe + C1C2SiCe — SyS4CHS4 + SiCHCe 5 528585 Ruy = CiCaCa8s ~ $1185 + CSC Ray = ~SiCrCuCsCe + Si S54 — C1SCsCo ~ C1C4Se + $1S255Co Rag = SiCaCaCsSo + SyC2SuCs + CySiCsSo ~ C1CICe = SyS255Se Ras = SC2CaSs + C1S4S5 + S1S2Cs Ray = SsCaCsCo ~ S,SaS5 + CSsCe Re -S:CiCs8e ~ S2S1Ce — C2835 Ry = SCA + C2Cs Pym mdsS + (dy + da)CS2 — asC\Ce gC) + (dy + ds) S\Sz — a35Ca (dy 4 dy)Cr aS 15 ©2005 Pearson Eaton, Ic, Upper Saco River, i Al fhe reserved, This materials protected under al copyght laws as they curently exis "No porton of his material maybe reproduced, in any form or by any means, witout permission n wing Wor the putas.33) (Continued) CG -S% 0 Ly SCs 00 | gp op _ op ipt, § G8 8 laragraerinir oo o1 CC CS Sy LiCy FLCC SiCx SiS Cy LS, + LS Sn CaO LS: 0 0 0 1 34) 3.5) The subroutine computes Eq. (3.13). By care- fully grouping common terms, the multiplication count can be reduced below the obvious brute- Torce calculation, 3.6) The subroutine computes the product of matrices given in Eq, (3.7). (About 30 mults) 3.2) The subroutine computes {7° given in the solu- tion to Exercise 33. (About 43 mults) 16 ©2005 Pearson Eaton, Ic, Upper Saco River, i Al fhe reserved, This materials protected under al copyght laws as they curently exis "No porton of his material maybe reproduced, in any form or by any means, witout permission n wing Wor the putas.