Question:
In a 2-DOF (RP) manipulator, the joint link parameters are given asLink i ai \(\alpha_i\) di \(\theta_i\) 1 0 \(90\degree\) 0 \(\theta_1\) 2 0 0 d2 0
The final transformation matrix for this manipulator is S
In a 2-DOF (RP) manipulator, the joint link parameters are given as
The final transformation matrix for this manipulator is S
| Link i | ai | \(\alpha_i\) | di | \(\theta_i\) |
| 1 | 0 | \(90\degree\) | 0 | \(\theta_1\) |
| 2 | 0 | 0 | d2 | 0 |
Updated On: Mar 21, 2024
- \(\begin{bmatrix} C_1 & 0 & S_1 & 0\\ S_1 & 0 & -C_1 & 0\\ 0 & 1 & 0 & 0\\ 0 &0 & 0 & 1 \end{bmatrix}\)
- \(\begin{bmatrix} 1 & 0 & 0 & 0\\ 0 & 1 & 0 & 0\\ 0 & 0 & 1 & d_2\\ 0 &0 & 0 & 1 \end{bmatrix}\)
- \(\begin{bmatrix} C_1 & 0 & S_1 & 0\\ S_1 & 0 & -C_1 & 0\\ 0 & 1 & 0 & d_2\\ 0 &0 & 0 & 1 \end{bmatrix}\)
- \(\begin{bmatrix} C_1 & 0 & S_1 & d_2S_1\\ S_1 & 0 & -C_1 & -d_2C_1\\ 0 & 1 & 0 & 0\\ 0 &0 & 0 & 1 \end{bmatrix}\)
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The Correct Option is D
Solution and Explanation
The correct option is (D): \(\begin{bmatrix} C_1 & 0 & S_1 & d_2S_1\\ S_1 & 0 & -C_1 & -d_2C_1\\ 0 & 1 & 0 & 0\\ 0 &0 & 0 & 1 \end{bmatrix}\)
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