# (Solved) : Use Ros Robot Operating System Slove Questions 1 Inverse Kinematics Project 6dof Manipulat Q42765622 . . .

use ROS-Robot Operating System to slove questions.

1. Inverse kinematics project

6DOF Manipulator with Spherical Wrist
-Find DH parameters
-Solve using the Geometrical approach by dividing position andorientation
-Use the desired <x,y,z> position to find the first threejoints
-Use the desired orientation to find the wrist angles

1) 2) 3) please screenshot results and code for me. thanks

COMPUTE THE DH PARAMETERS Z.Z A1 = 0.35 01 = 0.75 A2 = 1.25 D2 = 15 A3 = 0.054 OG = 0.303 2, Z, Zo a Then use those parameters to find the homogeneous transformation matrix. FIND THE FIRST 3 ANGLES – – 01 can be easily found by using arctangent 02 and 63 can be found by using the Law of Cosines ……. wc FIND THE LAST 3 ANGLES After getting R3_6, you will need to use multiple equations to isolate 64,05 and 06. Tip: 0 = arctan(sin()/cos(e)) = atan2(sin(e), cos(@)) Example matrix below. ZR = (3R) -? OR = (3R)” OR – [C4 C5 C6 – S4S6 S4 C5 C6 + C4 S6 – – SC – S4C6 – C4C5S6 C4C6 – S4C5S6 S5 S6 C4 Ss de C4 S5 S4 S5 do S4 S5 do C5 T = Show transcribed image text COMPUTE THE DH PARAMETERS Z.Z A1 = 0.35 01 = 0.75 A2 = 1.25 D2 = 15 A3 = 0.054 OG = 0.303 2, Z, Zo a Then use those parameters to find the homogeneous transformation matrix.
FIND THE FIRST 3 ANGLES – – 01 can be easily found by using arctangent 02 and 63 can be found by using the Law of Cosines ……. wc
FIND THE LAST 3 ANGLES After getting R3_6, you will need to use multiple equations to isolate 64,05 and 06. Tip: 0 = arctan(sin()/cos(e)) = atan2(sin(e), cos(@)) Example matrix below. ZR = (3R) -? OR = (3R)” OR – [C4 C5 C6 – S4S6 S4 C5 C6 + C4 S6 – – SC – S4C6 – C4C5S6 C4C6 – S4C5S6 S5 S6 C4 Ss de C4 S5 S4 S5 do S4 S5 do C5 T =

Answer to use ROS-Robot Operating System to slove questions. 1. Inverse kinematics project 6DOF Manipulator with Spherical Wrist -…

We are the best freelance writing portal. Looking for online writing, editing or proofreading jobs? We have plenty of writing assignments to handle.