Fel gion (Cy PfPacnce PLBURS 2965 | Saewd ans Ja. (10 points) For the manipulator shown, find the twist coordinates &; aud gsr(0) using the product of exponentials approach, Use the base and tool frames shown. b. (10 points) Find e&% for & and 5. x Jeo 4, ——+ leg —9] Assume fo2hs9 od 2670 configacertion « : © eB} sel] vee) vel eH 1 Tae Or suds tb 46 7 J | lee co Os Gas i F ° ° be eo AG2a, (15 points) Show how you would solve for the inverse kinematics of the manipulator shown in Problem 1, given a desired gg. Use subproblens (iucluding subproblem 5) or geometric arguinents as you wish, How many solutions are possible (ignoring physically itnpossible solutions, ie., negative displacements)? b. (5 points) Suppose the sequence of twists 3 and 4 were reversed, ie., joint 3 became revolute and joint 4 became prismatic (but both still about y axis). Would this change your solution from | y+ Niue part (a)? Why or why not? Re’ reat eemuecg NOTE: THU Salus As Sunes a) eee eee Gd (wit pune) Ter anes . eae si, 4 Im Te Py eevee eels toy 4 IY THE Zio One ovemoy, Ano PRsMine date? = J WiPiacencars By AAO Ba ee ALLS ° Fee ACRE Linke fat ne [2 |e iecetin wy deltetlety, wele'e'fs TPE enw. ’ Bete te ater cle act 368) To) 78,50 ws “nos | i. to’ ae 3 dees [es wes, 9| 2 1 & Re [p y Re NV Ve}. 8a ° ° ye t " Spa caoreare ; ooo 4 e098 ° me Ths, Gs (gna 7 Le Bs ohond (- in (0h, a | gre gry J" 3A sh bd pe [$]— eos tae Feb eS eS pis eee pe 9, ee" he 22g, pe > Sub Phu & [3 ’ 2ebs aa qy-| f] = rot on % Sent “> en 292 Tr aspen : ee Tot: 2 sus rere 2/ 73 ; A 2.) This will rot bongs the solachon fo yor 9. qj iy ete. | 3 \t2 ooo 4 000 v Aly is Carentan} under Be jie. Ber > eee. Re ~] 000 en \ ee 8 |} z ~ @es 000 ' oo 1 von Ut4. Jacobians (15 points} For the manipulator shown, find the body Jacobian. Use the spatial and body frames shown. Note that the seond joint is pesmate fs legge when = 0. ve Rx le)vi = RelOs) vp toe 2 ]fe . -[! «2 -33 if =) ¢3 e 53 3 Nie sf a ~ WO e 7 7 uy, = Rx (83) wy, a (7) 5 CAw OfE 3x3 KEE 3 B lao bight Y,*) Beause It 4 vena ieee inet + ey 3583-3, 8 3) gr 5383-5 Oe 7, gael e e = Fog Teast ten Bese 9, ISA a, = Vélt Ubotiovs Br Hasso! Ins réq ae oe a z y Fe) + se, : a le Og Fy, Ww CukRewr T sok otwas oy o eae Tre Pic ke . ie z [-@- (ut ones[s [-Zacnve ee aS) Ch + 2) s¥n (-93) ~ lg, +d2) 53 jaetge = (ter) Aad 3° Vie whee tT 2 | yt 8rd) Le cd Sse 8 33 kl 4 me iat / 33 ecu) : raed 2 2